[go: up one dir, main page]

WO2017217148A1 - Device, information processing device, program, and information processing method - Google Patents

Device, information processing device, program, and information processing method Download PDF

Info

Publication number
WO2017217148A1
WO2017217148A1 PCT/JP2017/017823 JP2017017823W WO2017217148A1 WO 2017217148 A1 WO2017217148 A1 WO 2017217148A1 JP 2017017823 W JP2017017823 W JP 2017017823W WO 2017217148 A1 WO2017217148 A1 WO 2017217148A1
Authority
WO
WIPO (PCT)
Prior art keywords
cell
rotation
image
unit
input
Prior art date
Application number
PCT/JP2017/017823
Other languages
French (fr)
Japanese (ja)
Inventor
武史 大橋
直史 松井
卓 青木
智也 大沼
Original Assignee
ソニー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ソニー株式会社 filed Critical ソニー株式会社
Priority to AU2017284307A priority Critical patent/AU2017284307B2/en
Priority to US16/307,582 priority patent/US11300766B2/en
Priority to CN201780034780.3A priority patent/CN109312286A/en
Priority to JP2018523580A priority patent/JP6911851B2/en
Priority to EP17813053.0A priority patent/EP3470510A4/en
Publication of WO2017217148A1 publication Critical patent/WO2017217148A1/en

Links

Images

Classifications

    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M21/00—Bioreactors or fermenters specially adapted for specific uses
    • C12M21/06—Bioreactors or fermenters specially adapted for specific uses for in vitro fertilization
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/0004—Microscopes specially adapted for specific applications
    • G02B21/002—Scanning microscopes
    • G02B21/0024—Confocal scanning microscopes (CSOMs) or confocal "macroscopes"; Accessories which are not restricted to use with CSOMs, e.g. sample holders
    • G02B21/0036—Scanning details, e.g. scanning stages
    • G02B21/0044—Scanning details, e.g. scanning stages moving apertures, e.g. Nipkow disks, rotating lens arrays
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M1/00—Apparatus for enzymology or microbiology
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M1/00—Apparatus for enzymology or microbiology
    • C12M1/34—Measuring or testing with condition measuring or sensing means, e.g. colony counters
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M1/00—Apparatus for enzymology or microbiology
    • C12M1/42—Apparatus for the treatment of microorganisms or enzymes with electrical or wave energy, e.g. magnetism, sonic waves
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M3/00—Tissue, human, animal or plant cell, or virus culture apparatus
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/30—Means for regulation, monitoring, measurement or control, e.g. flow regulation of concentration
    • C12M41/36—Means for regulation, monitoring, measurement or control, e.g. flow regulation of concentration of biomass, e.g. colony counters or by turbidity measurements
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/48—Automatic or computerized control
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/34—Microscope slides, e.g. mounting specimens on microscope slides
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/36—Microscopes arranged for photographic purposes or projection purposes or digital imaging or video purposes including associated control and data processing arrangements
    • G02B21/365—Control or image processing arrangements for digital or video microscopes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
    • B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
    • B01L3/50—Containers for the purpose of retaining a material to be analysed, e.g. test tubes
    • B01L3/502—Containers for the purpose of retaining a material to be analysed, e.g. test tubes with fluid transport, e.g. in multi-compartment structures
    • B01L3/5027—Containers for the purpose of retaining a material to be analysed, e.g. test tubes with fluid transport, e.g. in multi-compartment structures by integrated microfluidic structures, i.e. dimensions of channels and chambers are such that surface tension forces are important, e.g. lab-on-a-chip
    • B01L3/502761—Containers for the purpose of retaining a material to be analysed, e.g. test tubes with fluid transport, e.g. in multi-compartment structures by integrated microfluidic structures, i.e. dimensions of channels and chambers are such that surface tension forces are important, e.g. lab-on-a-chip specially adapted for handling suspended solids or molecules independently from the bulk fluid flow, e.g. for trapping or sorting beads, for physically stretching molecules
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10056—Microscopic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30024—Cell structures in vitro; Tissue sections in vitro

Definitions

  • the present technology relates to an apparatus, an information processing apparatus, a program, and an information processing method used for capturing an image by photographing a cell.
  • Patent Document 1 Techniques for capturing images by photographing cells (for example, see Patent Document 1) and techniques for evaluating cell quality based on the acquired cell images (for example, see Patent Document 2 and Patent Document 3) are known. Yes.
  • an object of the present technology is to further improve the accuracy of evaluation in a technology that evaluates cell quality based on an image of a cell acquired by photographing the cell.
  • An apparatus is: A container capable of containing cells and liquid; And a rotating part that rotates the cells by generating a flow in the liquid in the accommodating part.
  • the rotating unit generates a flow in a first direction in the liquid that contacts a first part that is a part of the surface of the cell, and rotates the cell around one axis.
  • the cell can be rotated.
  • the rotating unit further causes the liquid in contact with a second part that is another part of the surface of the cell to flow in a second direction including a component in a direction opposite to the first direction. And generating a second output port for preventing the cells rotating around the one axis from flowing in the first direction and rotating the cells around the one axis.
  • the second output port has a second direction opposite to the first direction to the culture medium in contact with the second part that is point-symmetric with the first part with respect to the center of the cell. Generate a flow to Thereby, the rotation axis of the cell is controlled so as to pass through the center of the cell, the position of the cell is stabilized, and the cell can be rotated more stably around one axis.
  • the device Detect the amount of rotation input from the input device,
  • the apparatus further includes a rotation control unit that controls the flow amount of the cells by controlling the flow of the liquid generated by each of the output ports based on the input rotation amount.
  • the rotating unit has two or more sets of the first output port and the second output port, Each set is arranged so that the cells can be rotated around an axis including two orthogonal components.
  • the rotating unit has three or more sets of the first output port and the second output port, Each set is arranged so that the cells can be rotated around an axis including three orthogonal components.
  • the rotation control unit Detecting the direction and amount of rotation input from the input device, Based on the input rotation direction and rotation amount, the flow of the liquid generated by each output port is controlled to control the rotation direction and rotation amount of the cells.
  • the device An image capturing unit that captures an image of the cell by capturing the cell in the housing unit;
  • the rotation control unit Based on the image before rotation of the cell obtained by the imaging unit and the image after rotation of the cell, the actual rotation direction and amount of rotation of the cell are calculated, Based on the actual rotation direction and rotation amount calculated based on the cell image, the flow of the liquid generated by each output port is controlled to achieve the input rotation direction and rotation amount.
  • the actual rotation direction and rotation amount calculated based on the images before and after the rotation are fed back and the rotation unit is repeatedly controlled until the input rotation direction and rotation amount are achieved, it is input from the input device.
  • the certainty of achieving the rotation of the cell by the rotation direction and the rotation amount (that is, the target of the user) can be increased.
  • Each of the output ports injects a fluid into the liquid in the container, thereby generating a flow in the liquid in the container.
  • a flow may be generated in the liquid in the container by injecting the same liquid as the liquid in the container from each output port. Or you may inject
  • the output ports generate a flow in the liquid in the storage unit by generating vibrations in the liquid in the storage unit.
  • vibrations may be generated in the liquid in the container by generating ultrasonic waves from each output port.
  • An information processing apparatus is: An image acquisition unit for acquiring an image of a cell corresponding to the rotation direction and the rotation amount input from the input device; An evaluation unit for evaluating the cell based on the acquired cell image;
  • the image acquisition unit A container capable of containing cells and liquid;
  • a rotating part for rotating the cell by generating a flow in the liquid in the containing part;
  • a rotation control unit for controlling the rotation direction and amount of rotation of the cell by controlling the rotation unit;
  • An image based on the image of the cell acquired by the imaging unit of the apparatus having an imaging unit that captures the cell in the storage unit and acquires the image of the cell is acquired as the image of the cell.
  • an objective evaluation that excludes human subjectivity can be presented to the user.
  • the rotation control unit Detecting the direction and amount of rotation input from the input device, Based on the input rotation direction and rotation amount, the rotation unit is controlled to control the rotation direction and rotation amount of the cells,
  • the imaging unit acquires an image of the cell in which the rotation direction and the rotation amount are controlled based on the input rotation direction and rotation amount,
  • the image acquisition unit acquires an image of the cell from the imaging unit.
  • the actual rotation direction and rotation amount calculated based on the images before and after the rotation are fed back and the rotation unit is repeatedly controlled until the input rotation direction and rotation amount are achieved, it is input from the input device.
  • the certainty of achieving the rotation of the cell by the rotation direction and the rotation amount (that is, the target of the user) can be increased.
  • the image acquisition unit Detecting the direction and amount of rotation input from the input device, From the storage device that stores the image of the cell acquired by the imaging unit and the rotation information related to the rotation direction and rotation amount of the cell in association with each other, the image of the cell corresponding to the input rotation direction and rotation amount Or reading a plurality of images from the storage device and combining the read images to generate an image of a cell corresponding to the input rotation direction and rotation amount.
  • the cells can be observed and evaluated three-dimensionally after the fact. For example, if the cells are fertilized eggs or embryos, it is possible to compare and observe the past images and the current cells in the container three-dimensionally by accumulating images before cell division proceeds. Become.
  • a program is: An image acquisition unit for acquiring an image of a cell corresponding to the rotation direction and the rotation amount input from the input device; A program for causing an information processing device to function as an evaluation unit for evaluating the cell based on the acquired cell image,
  • the image acquisition unit A container capable of containing cells and liquid; A rotating part for rotating the cell by generating a flow in the liquid in the containing part; An image based on the image of the cell acquired by the imaging unit of the apparatus having an imaging unit that captures the cell in the storage unit and acquires the image of the cell is acquired as the image of the cell.
  • An information processing method includes: The image acquisition unit acquires an image of a cell corresponding to the rotation direction and the rotation amount input from the input device, An information processing method for evaluating the cell based on the acquired cell image,
  • the image acquisition unit A container capable of containing cells and liquid; A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
  • An image based on the image of the cell acquired by the imaging unit of the apparatus having an imaging unit that captures the cell in the storage unit and acquires the image of the cell is acquired as the image of the cell.
  • the accuracy of evaluation can be further improved in the technology for evaluating the quality of a cell based on an image of the cell acquired by photographing the cell.
  • FIG. 1 It is a block diagram which shows the structure of the cell evaluation apparatus (information processing apparatus) which concerns on 1st Embodiment. It is a figure which shows a cell rotation apparatus typically. It is a figure which shows typically the relationship between the cell in a accommodating part, and the flow of a culture solution. It is a flowchart which shows operation
  • FIG. 1 is a block diagram showing a configuration of a cell evaluation apparatus (information processing apparatus) according to the first embodiment.
  • “cell” (singular) includes at least conceptually a single cell and a collection of a plurality of cells.
  • the “cell” includes at least an unfertilized egg cell (egg), a fertilized egg, and an embryo of an organism each having a three-dimensional (three-dimensional) shape.
  • the cell evaluation device 1 includes a cell rotation device 10 (device), an input device 11, an image acquisition unit 12, an evaluation unit 13, and an output device 14.
  • At least the image acquisition unit 12, the evaluation unit 13, and the rotation control unit 130 (described later) included in the cell rotation device 10 of the cell evaluation device 1 are ROMs that are examples of non-transitory computer-readable recording media. This is realized by loading a program recorded in (Read Only Memory) into a RAM (Random Access Memory) and executing it by a CPU (Central Processing Unit).
  • the input device 11 is a device that can input a rotation direction and a rotation amount in three axis directions.
  • a trackball for example, a trackball, a touch pad, a mouse, a keyboard, or the like can be used.
  • a trackball is used as the input device 11, it is possible for the user to input the rotation direction and the rotation amount in the three-axis directions more intuitively than other devices.
  • the cell rotation device 10 includes a storage unit 110 that can store cells and liquids, and a rotation unit 120 that rotates cells in the storage unit based on the rotation direction and rotation amount in the three axial directions input from the input device 11. .
  • a storage unit 110 that can store cells and liquids
  • a rotation unit 120 that rotates cells in the storage unit based on the rotation direction and rotation amount in the three axial directions input from the input device 11. .
  • a more specific configuration of the cell rotation device 10 will be described in detail later.
  • the image acquisition unit 12 acquires in real time an image obtained by an imaging unit (described later) always imaging cells in the housing unit of the cell rotation device 10.
  • the evaluation unit 13 evaluates cells based on the cell image acquired by the image acquisition unit 12.
  • the output device 14 is a display device that outputs an image at least like a display, and may include a device that outputs sound like a speaker.
  • the output device 14 as a display device displays a cell image acquired by the image acquisition unit 12 in real time.
  • the output device 14 also outputs the result of cell evaluation by the evaluation unit 13 as an image, sound, or the like.
  • FIG. 2 is a diagram schematically showing a cell rotation device.
  • the cell rotation device 10 includes a storage unit 110, a rotation unit 120, a rotation control unit 130, and an imaging unit 140.
  • the accommodating part 110 accommodates a liquid and can be held at a certain position while accommodating one cell in the liquid.
  • “Liquid” is typically a culture solution suitable for culturing cells, and will be described below as a culture solution.
  • the accommodating part 110 is good also as a thin circular tube with which the upper surface was open
  • a flat dish such as a petri dish may be divided into a lattice shape in the horizontal direction by a plurality of partition walls, and a plurality of accommodating portions 110 may be provided in one petri dish.
  • one section of the lattice functions as one accommodating portion 110.
  • One section of the lattice may be a prism or a cylinder whose upper surface is open.
  • the accommodating part 110 should just be the size and shape which can hold
  • the receiving part 110 may have a substantially hemispherical bottom surface, and its diameter should not be too large compared to the cell size, and its depth is too shallow compared to the cell size. If there is no. In the following description, it does not matter how many accommodating portions 110 are provided, and only one accommodating portion 110 is described.
  • the rotating unit 120 includes a pump P, an X-axis rotating valve Vx, a Y-axis rotating valve Vy, a Z-axis rotating valve Vz, a first X-axis outlet X1 (first output port), A second X-axis outlet X2 (second output port), a first Y-axis outlet Y1 (first output port), a second Y-axis outlet Y2 (second output port), and The first Z-axis outlet Z1 (first output port) and the second Z-axis outlet Z2 (second output port).
  • X axis”, “Y axis” and “Z axis” mean three orthogonal axes, and do not mean a horizontal direction and a vertical direction.
  • a first X-axis jet port X1, a second X-axis jet port X2, a first Y-axis jet port Y1, a second Y-axis jet port Y2, and a first X-axis jet port X1, Z-axis outlet Z1 and second Z-axis outlet Z2 are formed (when there are a plurality of accommodating portions 110, each of the ejecting ports is formed uniquely for each of the accommodating portions 110).
  • Each of the second Z-axis ejection ports Z ⁇ b> 2 generates a flow in the culture solution in the storage unit 110 by ejecting (injecting) a fluid into the culture solution in the storage unit 110.
  • the “fluid” is typically the same liquid as the culture solution in the storage unit 110, but may be a liquid or gas different from the culture solution in the storage unit 110.
  • the pump P includes a first X-axis outlet X1, a second X-axis outlet X2, a first Y-axis outlet Y1, a second Y-axis outlet Y2, and a first Z-axis outlet.
  • the outlet Z1 and the second Z-axis outlet Z2 are connected to each other through a flow path, and the culture solution is supplied to these outlets.
  • a part of each flow path (portion side, not pump side) is formed in the wall surface of the accommodating part 110 (if there are a plurality of accommodating parts 110, each of the accommodating parts 110 is inherently unique. , Each flow path is formed).
  • An X-axis rotation valve Vx is provided in a flow path that connects the pump P to the first X-axis outlet X1 and the second X-axis outlet X2.
  • a Y-axis rotation valve Vy is provided in a flow path that connects the pump P to the first Y-axis outlet Y1 and the second Y-axis outlet Y2.
  • a Z-axis rotation valve Vz is provided in a flow path that connects the pump P to the first Z-axis nozzle Z1 and the second Z-axis nozzle Z2.
  • the rotation control unit 130 detects the rotation direction and the rotation amount input from the input device 11, and the respective ejection ports X 1, X 2, Y 1, Y 2, Z 1, Z 2 are generated based on the input rotation direction and rotation amount.
  • the flow direction of the cell C and the amount of rotation are controlled by individually controlling the flow of the culture solution.
  • the rotation control unit 130 controls the opening and closing of the X-axis rotation valve Vx so that the culture solution ejection speed ejected from the first X-axis ejection port X1 and the second X-axis ejection port X2 and Control the amount of ejection.
  • the rotation control unit 130 controls the ejection speed and the ejection amount of the culture solution ejected from the first Y-axis ejection port Y1 and the second Y-axis ejection port Y2 by controlling the opening and closing of the Y-axis rotation valve Vy. .
  • the rotation control unit 130 controls the ejection speed and the ejection amount of the culture solution ejected from the first Z-axis ejection port Z1 and the second Z-axis ejection port Z2 by opening and closing the Z-axis rotation valve Vz. .
  • the calculation method of “the ejection speed and ejection volume of the culture solution” will be described in detail later.
  • the imaging unit 140 includes at least an optical microscope and an imaging element, and captures an optical microscope image using the imaging element.
  • the imaging unit 140 always captures the cell C in the storage unit 110 and acquires an image of the cell C.
  • the imaging unit 140 supplies the image of the cell C that is always acquired to the rotation control unit 130 in real time.
  • the rotation control unit 130 calculates the rotation direction and the rotation amount of the cell C based on the image of the cell C obtained by the imaging unit 140 constantly capturing images.
  • the rotation control unit 130 individually controls the flow of the culture solution generated by each of the ejection ports X1, X2, Y1, Y2, Z1, Z2 based on the rotation direction and the rotation amount calculated based on the image of the cell C, The rotation direction and the rotation amount input from the input device 11 are achieved.
  • FIG. 3 is a diagram schematically showing the relationship between the cells in the container and the flow of the culture solution.
  • the flow of the culture solution generated in the accommodating part 110 by each of the jet ports X1, X2, Y1, Y2, Z1, and Z2 and the rotation direction of the cells C will be described more specifically.
  • a curved line indicating the rotation direction around three axes is attached to the substantially spherical cell C.
  • the first X-axis spout X1 is directed to the culture solution in contact with the first part Px1, which is a part of the surface of the cell C in the accommodating part 110, in one direction (first direction) along the X-axis.
  • a flow Fx1 is generated to rotate the cell C around one axis that penetrates the first part Px1.
  • the second X-axis spout X2 is a direction in which the culture solution in contact with the second part Px2 that is another part of the surface of the cell C includes a component in the direction opposite to the one direction along the X-axis (second Uniaxially passing through the first part Px1 by preventing the cell C rotating around one axis passing through the first part Px1 from flowing in one direction along the X axis. Rotate cell C around.
  • the second X-axis outlet X2 is arranged in one direction along the X-axis with respect to the culture solution that contacts the second part Px2 that is point-symmetric with the first part Px1 with respect to the center of the cell C. And a flow in the opposite direction (second direction) is generated.
  • the rotation axis of the cell C (one axis that penetrates the first part Px1) is controlled so as to pass through the center of gravity of the cell C, the position of the cell C is stabilized, and the first part Px1 and The cell C can be rotated around one axis penetrating the second part Px2.
  • the first Y-axis ejection port Y1 is directed to the culture solution that contacts the first part Py1 that is a part of the surface of the cell C in the accommodating portion 110 in one direction (first direction) along the Y-axis.
  • a flow Fy1 is generated to rotate the cell C around one axis penetrating the first site Py1.
  • the second Y-axis spout Y2 includes a direction in which the culture solution in contact with the second part Py2 that is another part of the surface of the cell C includes a component in the direction opposite to the one direction along the Y-axis (second Uniaxially passing through the first part Py1 by preventing the cells C rotating around one axis passing through the first part Py1 from flowing in one direction along the Y axis.
  • the second Y-axis outlet Y2 is unidirectional along the Y-axis to the culture solution that contacts the second site Py2 that is point-symmetric with the first site Py1 with respect to the center of the cell C. And a flow in the opposite direction (second direction) is generated.
  • the rotation axis of the cell C one axis penetrating the first part Py1 is controlled to pass through the center of the cell C, the position of the cell C is stabilized, and the first part Py1 and The cell C can be rotated around one axis that penetrates the second site Py2.
  • the first Z-axis ejection port Z1 is directed to the culture solution that contacts the first part Pz1 that is a part of the surface of the cell C in the accommodating portion 110 in one direction (first direction) along the Z-axis.
  • a flow Fz1 is generated to rotate the cell C around one axis penetrating the first part Pz1.
  • the second Z-axis ejection port Z2 includes a direction in which the culture solution in contact with the second part Pz2 that is another part of the surface of the cell C includes a component in the direction opposite to the one direction along the Z-axis (second Uniaxially passing through the first part Pz1 by preventing the cell C rotating around one axis passing through the first part Pz1 from flowing in one direction along the Z axis.
  • the second Z-axis outlet Z2 is unidirectional along the Z-axis to the culture solution that contacts the second site Pz2 that is point-symmetric with the first site Pz1 with respect to the center of the cell C. And a flow in the opposite direction (second direction) is generated.
  • the rotation axis of the cell C one axis penetrating the first part Pz1 is controlled to pass through the center of the cell C, the position of the cell C is stabilized, and the first part Pz1 and The cell C can be rotated around one axis that penetrates the second portion Pz2.
  • the rotating unit 120 (pump P, X-axis rotating valve Vx, and Y-axis rotating) Valve Vy, Z-axis rotation valve Vz, first X-axis outlet X1, second X-axis outlet X2, first Y-axis outlet Y1, and second Y-axis outlet
  • Two sets of Y2 (having the first Z-axis outlet Z1 and the second Z-axis outlet Z2) may be provided (not shown).
  • the first rotation unit for rotating the cell C clockwise and the second rotation unit for rotating counterclockwise are provided in one storage unit 110, and the rotation control unit 130 What is necessary is just to control the 1st and 2nd rotation part separately.
  • Control of the ejection speed and ejection volume of the culture solution can be determined based on the moment of inertia obtained from the size and mass of the cells in physical analysis. If the cell is approximated as a sphere, the radius of the cell is a, and the mass is M, the moment of inertia of the cell can be obtained as shown in Equation 1.
  • the analytical ejection amount and velocity according to Equation 1 can be used as an initial value of the ejection amount when creating learning data for machine learning.
  • the jet velocity from the jet port is d [m / s]
  • the cross-sectional area of the jet port is e [m ⁇ 2]
  • the jet time is g [sec]
  • the angle rotated at that time is r [rad].
  • the cross-sectional area e of the spout is fixed in the petri dish and the spout velocity d is also a fixed value for simplification of the device
  • the combinations when the variables g and r are changed variously are obtained through experiments, and the target rotation angle r
  • the ejection time for controlling the rotation of the cells can be determined.
  • linear regression described below can be used.
  • the basis function can be expressed as follows.
  • M represents the number of basis functions used.
  • x in Equation 3 is the target rotation angle r
  • the function f (x) obtained by linear regression represents the ejection time obtained by linear regression.
  • the problem of obtaining w in Equation 3 is as follows using a plurality of (N in this case) data sets (g n , r n ) of the ejection time g obtained by the experiment and the rotation angle r obtained thereby. The problem is to find w that minimizes E (w) in
  • Equation 4 In order to actually obtain the function f (x) from the equation (4) by linear regression, an appropriate weight (such as 0.1) is applied to the ⁇ of the equation (4), and the data of N ejection times g and rotation angles r obtained by experiments. Substituting the set (g n , r n ) into Equation 4 to obtain simultaneous equations with the partial differential value of w i being zero.
  • the objective function f (x) can be obtained by substituting the obtained w i into Equation 3.
  • This regression calculation can be realized by using general regression learning methods such as support vector regression and logistic regression in addition to linear regression.
  • information such as the shape and size of the cells may be obtained from the image information of the cells, and the parameters may be put into learning.
  • the position and angle to which the culture solution is applied may also be determined by recognition processing using an optimal one by image recognition or machine learning.
  • the rotation control unit 130 may determine the shape and size of the cell by image recognition, and change the angle and position at which the culture solution is ejected based on the determination result.
  • FIG. 4 is a flowchart showing the operation of the cell evaluation apparatus.
  • the cells C and the culture solution are stored in the storage unit 110.
  • the imaging unit 140 acquires an image of the cell C by constantly (periodically) imaging the cell C in the storage unit 110.
  • the imaging unit 140 supplies at least the pre-rotation image of the cell C to the rotation control unit 130, and always supplies the image acquisition unit 12 with the image of the cell C that is always acquired in real time.
  • the image acquisition unit 12 always outputs the image of the cell C acquired from the imaging unit 140 to the output device 14 (display device) in real time. Thereby, the image of the cell C in the storage unit 110 is always displayed in real time on the output device 14 (display device).
  • the user When the user wishes to view the cell C from another direction while observing the image of the cell C displayed in real time on the output device 14 (display device), the user operates the input device 11 to rotate the cell C.
  • the rotation direction (direction including the three-axis components) and the rotation amount are input.
  • the rotation control unit 130 detects a rotation direction (a direction including three-axis components) and a rotation amount input from the input device 11 (step S11).
  • the rotation control unit 130 calculates the ejection speed and the ejection amount of the culture solution in each of the three axial directions according to the above calculation method so that the rotation direction and the rotation amount input from the input device 11 are achieved (step S12). ).
  • the rotation control unit 130 controls the X-axis rotation valve Vx, the Y-axis rotation valve Vy, and the Z-axis of the rotation unit 120 so that the calculated culture solution ejection speed and ejection amount in each of the three axis directions are achieved. Opening and closing of the rotation valve Vz is individually controlled.
  • the second Z-axis ejection port Z2 ejects the culture solution toward the cells C in the storage unit 110 at individual ejection speeds and ejection amounts.
  • the cell C in the storage unit 110 rotates (step S13).
  • the imaging unit 140 supplies at least the rotated image of the cell C to the rotation control unit 130 among the images of the cell C that are always captured (regularly).
  • the rotation control unit 130 compares the image before rotation of the cell C acquired from the imaging unit 140 with the image after rotation of the cell C, and calculates the actual rotation direction and rotation amount of the cell C. Specifically, the rotation control unit 130 extracts feature points included in the image before the rotation of the cell C and feature points included in the image after the rotation of the cell C (each feature point is the cell C The same part). The rotation control unit 130 compares the feature point included in the image before the rotation of the cell C with the feature point included in the image after the rotation of the cell C, and calculates the rotation direction and the rotation amount of the feature point. The rotation control unit 130 determines the calculated rotation direction and rotation amount of the feature point as the actual rotation direction and rotation amount of the cell C. The rotation control unit 130 compares the rotation direction and rotation amount calculated based on the images before and after the rotation of the cell C with the rotation direction and rotation amount input from the input device 11 (step S14).
  • the rotation control unit 130 When the rotation direction and the rotation amount calculated based on the images before and after the rotation of the cell C do not match the rotation direction and the rotation amount input from the input device 11, the rotation control unit 130 It is determined that the rotation amount has not been achieved (step S14, NO). Therefore, the rotation control unit 130 again calculates the ejection speed and the ejection amount of the culture solution in each of the three axial directions so that the rotation direction and the rotation amount input from the input device 11 are achieved (step S12). Specifically, when it is assumed that the rotation control unit 130 has rotated the cell C before rotation in the rotation direction and rotation amount input from the input device 11, the feature included in the image before rotation of the cell C. It is calculated to which position in the image the point moves.
  • the predicted position of the feature point is referred to as “feature point predicted position”.
  • the rotation control unit 130 compares the position of the feature point included in the image after the rotation of the cell C and the feature point predicted position, and the feature point included in the image after the rotation of the cell C moves to the feature point predicted position.
  • the rotation direction and the amount of rotation necessary for the calculation are calculated.
  • the rotation control unit 130 calculates the ejection speed and the ejection amount of the culture solution in each of the three axial directions according to the above calculation method so that the calculated rotation direction and rotation amount are achieved. Steps S12 to S14 are repeated until the rotation control unit 130 determines that the input rotation direction and rotation amount have been achieved (step S14, YES).
  • the rotation control unit 130 determines that the input rotation direction and rotation amount have been achieved (step S14, YES)
  • the rotation control unit 130 notifies the image acquisition unit 12 to that effect.
  • the image acquisition unit 12 supplies the evaluation unit 13 with the image of the cell C that is always acquired from the imaging unit 140 in real time (step S15).
  • the evaluation unit 13 recognizes the acquired image of the cell C by image processing, and evaluates the quality of the cell C with reference to an existing database (step S16). Specific examples of the evaluation method will be described later.
  • the evaluation unit 13 causes the output device 14 to output the evaluation result using a predetermined output method (image display, audio output) (step S17). A specific example of the output method will be described later.
  • the user recognizes the evaluation result of the quality of the cell C output from the output device 14.
  • cell evaluation method A specific example of a method in which the evaluation unit 13 recognizes the image after the rotation of the cell C by image processing and evaluates the quality of the cell C (step S16) will be described.
  • cell C is a fertilized egg (embryo).
  • Cell C can be evaluated in the following five grades (grade 1 is the highest and grade 5 is the lowest) based on an index generally used for the evaluation of the initial divided embryo.
  • the evaluation unit 13 recognizes the shape and fragmentation of the blastomere included in the image using an edge detection technique, and evaluates the cell C to five grades based on the recognized image.
  • Grade 1 The blast ball is uniform and fragmentation is not allowed.
  • Grade 2 The blast ball is slightly uneven and slightly fragmented.
  • Grade 3 The blast ball is uneven.
  • Grade 4 The blast ball is uniform or uneven, and considerable fragmentation is observed.
  • Grade 5 The blast ball is unclear and fragmentation is significant.
  • the cell C when the cell C is a fertilized egg (embryo) of Japanese beef, the cell C may be evaluated using an index generally used for meat quality evaluation of Japanese beef. In other words, predict the future meat quality of cells C (Japanese cattle fertilized eggs (embryo)), and determine the yield grade (3 levels: highest A to lowest C) and meat quality grade (5 levels: highest 5 to lowest 1). Cell C may be evaluated as an index.
  • FIG. 5 is a diagram for explaining a specific example of a method for outputting a cell quality evaluation result.
  • the evaluation unit 13 extracts, from the image of the cell C, a part with less surface unevenness or a part with a uniform volume after cell division by image processing.
  • the evaluation result A3 is registered for a portion with less surface irregularities
  • the evaluation result A5 is registered for a portion having a uniform volume after cell division.
  • the evaluation unit 13 reads out the evaluation results associated with the features of each part extracted by image processing from the database.
  • the evaluation unit 13 generates a composite image by combining information indicating the evaluation result and the like with the image of the cell C based on the position information of each part extracted by the image processing and the read evaluation result.
  • the evaluation unit 13 displays the generated composite image on the output device 14 (display device).
  • the evaluation result (A3, A5) of each part, the reason for evaluation (in this example, text), and the evaluation result (A4) of the entire cell C Is synthesized.
  • FIG. 6 is a diagram for explaining another specific example of the method for outputting the evaluation result of the cell quality.
  • the evaluation unit 13 can evaluate the cells C in time series by evaluating the images of the cells C that are always acquired from the image acquisition unit 12 in real time. Specifically, the evaluation unit 13 recognizes a series of images of the cells C acquired from the image acquisition unit 12 by edge detection or the like, and designates a region having a large image change as a region having a large dynamic change during cell division. recognize. The evaluation unit 13 synthesizes a series of images of the cells C acquired from the image acquisition unit 12 with a shade of a color (color or monochrome) indicating the position information of the part to generate a composite image.
  • a color color or monochrome
  • the evaluation unit 13 displays the generated composite image on the output device 14 (display device).
  • the output device 14 display device.
  • a part having a large dynamic change in the image of the cell C is set to a color having a darkness corresponding to the degree of change.
  • time-series division during cell division such as the balance of blastomere size after cleavage and the amount of fragmentation, is one of the important criteria.
  • dynamic information such as cleavage of a fertilized egg (embryo) can be used for determination of cell quality.
  • the dynamic change information is not limited to the two-dimensional information in the two-dimensional image, but may be information on a three-dimensional dynamic change obtained by a sensor capable of acquiring three-dimensional information such as a stereo camera. This often allows detailed information to be reflected in the evaluation. Further, not only the dynamic change but also information such as the density of the inner cell mass may be reflected and displayed in the color shading.
  • the dynamic change of a fertilized egg may be expressed with emphasis by sound as well as color shading.
  • the evaluation unit 13 recognizes a series of images of the cell C acquired from the image acquisition unit 12 by edge detection or the like and finds an image with a large dynamic change, the evaluation unit 13 causes the output device 14 as a speaker to output some sound. May be.
  • the user can fertilize based not only on visual information based on images but also on auditory information.
  • Eggs (embryos) can be evaluated.
  • FIG. 7 is a diagram for explaining another specific example of the method for outputting the evaluation result of the cell quality.
  • the evaluation unit 13 recognizes a characteristic part useful for evaluation (for example, a boundary surface of cells after cell division, an inner cell mass, or the like from an image of the cell C (image a in FIG. 7) by image recognition such as edge detection. ) Is detected.
  • the evaluation unit 13 rotates the image of the cell C so that the user can easily visually recognize the image (image b in FIG. 7).
  • a series of images of the cells C displayed from time to time may naturally change the direction of the cells C due to the process of cell division, but by aligning the cells C in the images in a certain direction by image recognition. This makes it easier for the user to visually distinguish the cells C.
  • FIG. 8 is a diagram for explaining another specific example of the method for outputting the evaluation result of the cell quality.
  • the image of the cell C is rotated two-dimensionally so that the user can easily visually discriminate.
  • the cell C by rotating the cell C itself in the storage unit 110 in a three-dimensional manner and displaying an image of the rotated cell C, as a result, the cell C in a direction that is easy for the user to visually distinguish is displayed.
  • An image may be displayed.
  • the evaluation unit 13 determines that two cells of the 2-cell stage embryo (cell C) in the image (image a in FIG. 8) overlap each other by image recognition such as edge detection. It is considered that it is easier for the user to observe the two cells if the two cells are adjacent to each other without overlapping each other.
  • the evaluation unit 13 calculates, based on the image, the rotation direction and the rotation amount for causing the cell C in the image (two cells overlap each other) to be adjacent to each other.
  • the evaluation unit 13 notifies the rotation control unit 130 of the calculated rotation direction and rotation amount.
  • the rotation control unit 130 calculates the ejection speed and the ejection amount of the culture solution in each of the three axial directions so that the notified rotation direction and rotation amount are achieved (similar to step S12).
  • the rotation unit 120 rotates the cell C (similar to step S13), and when the cell C assumes a target posture (same as YES in step S14), the evaluation unit 13 displays an image of the cell C (image b in FIG. 8). It outputs to the output device 14 (step S17).
  • a cell image (stereo image) is acquired with two imaging devices while changing the optical distance to the cell without rotating the cell, and the three-dimensional image is synthesized by synthesizing the image.
  • a generation method is conceivable.
  • the cells are not completely transparent, it is difficult to generate a clear image from a direction other than the shooting direction.
  • the rotation control unit 130 controls the rotation unit 120 so that the rotation direction and the rotation amount input from the input device 11 (step S11) are achieved (step S12). (Step S13). Then, the rotation control unit 130 compares the actual rotation direction and the rotation amount calculated based on the images before and after the rotation of the cell C with the rotation direction and the rotation amount input from the input device 11 (Step S14). The rotating unit 120 is repeatedly controlled until the rotation direction and the rotation amount are achieved (step S14, YES).
  • the cells can be observed from a plurality of three-dimensional orientations by rotating the cells and having a three-dimensional (three-dimensional) shape. Further, the actual rotation direction and rotation amount calculated based on the images before and after the rotation are fed back, and the rotation unit 120 is repeatedly controlled until the input rotation direction and rotation amount are achieved. It is possible to increase the certainty that the rotation of the cell is achieved by the rotation direction and the rotation amount (that is, the target of the user).
  • the user can intuitively input the rotation direction and amount of rotation in three axes compared to other devices, and the user can grasp the cell as if it were Intuitive observation, such as rotating, becomes possible.
  • a method for evaluating cell quality using image recognition for example, a method of obtaining a length value of the outer periphery of a cell, a cell area value, or the like by image processing is conceivable.
  • these values themselves are not evaluation values of cell quality, and it is necessary to evaluate quality based on these values by human judgment.
  • it is inevitable that variations occur in the evaluation for example, a method of obtaining an evaluation value of the quality of the whole cell is also conceivable. However, even if an evaluation value of the quality of the whole cell is obtained, the reason for the evaluation value may be difficult for the user to understand.
  • the evaluation unit 13 extracts a part having a characteristic surface shape or volume of the cell from the image of the cell C by image processing, and extracts by image processing.
  • the evaluation results associated with the features of each part are read from the database.
  • the evaluation unit 13 Based on the position information of each part extracted by image processing and the read evaluation result, the evaluation unit 13 combines information indicating the evaluation result and the like with the cell image to generate a composite image (FIG. 5). FIG. 6).
  • the evaluation unit 13 recognizes an image of a cell by image processing, evaluates the quality of the cell with reference to an existing database (Step S16), and causes the output device 14 to output the evaluation result (Step S16). S17). Each step of this evaluation may be eliminated, and the output device 14 may simply output the cell image in which the input rotation direction and rotation amount are achieved.
  • FIG. 9 is a block diagram illustrating a configuration of a cell evaluation device (information processing device) according to the second embodiment.
  • the cell evaluation device 1A includes a cell rotation device 10A (device), an input device 11A, an image database (DB) creation unit 15, an image database (DB) 16, an image acquisition unit 12A, an evaluation unit 13A, and an output. 14A.
  • At least the image acquisition unit 12A, the evaluation unit 13A, the rotation control unit 130A included in the cell rotation device 10, and the image DB creation unit 15 of the cell evaluation device 1A are non-transitory computer-readable recording media. This is realized by loading a program recorded in the ROM, which is an example, into the RAM and executing it by the CPU.
  • the image DB 16 is set as a non-volatile recording medium.
  • the cell rotation device 10A and the input device 11A are the same as the cell rotation device 10 and the input device 11 of the first embodiment.
  • the rotation control unit 130A calculates the position information of the cell C in the three-axis directions based on the rotation direction and the rotation amount input from the input device 11A.
  • the rotation control unit 130A extracts feature points included in the image before rotation of the cell C acquired from the imaging unit 140A and feature points included in the image after rotation of the cell C (each feature point is: It is the same location of cell C).
  • the rotation control unit 130A compares the feature point included in the image before the rotation of the cell C and the feature point included in the image after the rotation of the cell C, and calculates the rotation direction and the rotation amount of the feature point.
  • the rotation control unit 130A calculates the position information of the cell C in the three-axis directions based on the calculated rotation direction and rotation amount of the feature points.
  • the rotation control unit 130A supplies the calculated position information (rotation information) of the cell C in the three-axis directions, and the imaging unit 140A supplies the image of the cell C to the image DB creation unit 15 in synchronization.
  • the “position information in the three-axis direction” of the cell C calculated by the rotation control unit 130A is not relative position information based on the posture of the cell C before the rotation, but absolute position information (coordinate information or the like). Means.
  • the image DB creation unit 15 acquires the image of the cell C and the corresponding position information of the cell C in the three-axis directions from the rotation control unit 130A.
  • the image DB creation unit 15 constructs an image DB 16 for realizing a three-dimensional image by accumulating the position information of the cells C to be acquired in the three-axis directions and the image of the cell C.
  • the image acquisition unit 12A is a cell corresponding to the rotation direction and the rotation amount in the triaxial direction input from the input device 11A (may be different from the input device 11A that inputs the rotation direction and the rotation amount to the rotation control unit 130A).
  • the C image is read from the image DB 16.
  • the image acquisition unit 12A reads a plurality of images from the image DB 16 when the image of the cell C corresponding to the rotation direction and the rotation amount in the three-axis directions input from the input device 11A is not accumulated in the image DB 16. Then, the plurality of read-out images are synthesized to generate an image of the cell C corresponding to the input rotation direction and rotation amount.
  • the evaluation unit 13A evaluates cells based on the cell image acquired by the image acquisition unit 12A.
  • the output device 14A as a display device displays an image of the cell C acquired (read or synthesized) by the image acquisition unit 12A in real time.
  • the output device 14A also outputs the result of the evaluation of the cell C by the evaluation unit 13A as an image or sound.
  • FIG. 10 is a flowchart showing the operation of the cell evaluation apparatus.
  • the image acquisition unit 12A acquires an image of the cell C from the image DB 16 using, for example, some input from the input device 11A as a trigger, and outputs the acquired image to the output device 14A (display device).
  • An image of the cell C is displayed on the output device 14A (display device).
  • the user wants to view the cell C from another direction while observing the image of the cell C displayed on the output device 14A (display device)
  • the user operates the input device 11A to rotate the cell C.
  • the rotation direction including the three-axis component
  • the rotation amount are input.
  • the image acquisition unit 12A detects the rotation direction (a direction including the three-axis components) and the rotation amount input from the input device 11A (step S21).
  • the image acquisition unit 12A reads an image of the cell C corresponding to the rotation direction and the rotation amount input from the input device 11A from the image DB 16.
  • the image acquisition unit 12A reads a plurality of images from the image DB 16 when the image of the cell C corresponding to the rotation direction and the rotation amount in the three-axis directions input from the input device 11A is not accumulated in the image DB 16. Then, the plurality of read images are combined to generate an image of the cell C corresponding to the input rotation direction and rotation amount (step S22).
  • the image acquisition unit 12A rotates the cell C input from the input device 11A with reference to position information in the triaxial direction of the image of the cell C displayed on the output device 14A (display device). The position information in the triaxial direction when the direction and the rotation amount are rotated is calculated. The image acquisition unit 12A determines whether an image of the cell C corresponding to the calculated position information in the three-axis directions is stored in the image DB 16. If it is determined that the image is stored, the image acquisition unit 12A reads an image of the cell C corresponding to the calculated position information in the three-axis direction from the image DB 16.
  • the image acquisition unit 12A reads from the image DB 16 a plurality (at least two) of cells C corresponding to position information that is relatively close to the calculated position information in the three-axis directions.
  • the image acquisition unit 12A combines the plurality of read images to generate an image of the cell C corresponding to the calculated triaxial position information.
  • the image acquisition unit 12A When the image acquisition unit 12A reads or generates a cell C image corresponding to the rotation direction and rotation amount input from the input device 11A, the image acquisition unit 12A supplies the read or generated cell C image to the evaluation unit 13A. (Step S23).
  • the evaluation unit 13A recognizes the acquired image of the cell C by image processing, and evaluates the quality of the cell C with reference to an existing database (step S24).
  • the evaluation unit 13A causes the output device 14A to output the evaluation result using a predetermined output method (image display, audio output) (step S25). Thereby, the user recognizes the evaluation result of the quality of the cell C output from the output device 14A.
  • the cells C can be observed and evaluated three-dimensionally after the fact.
  • the cells are fertilized eggs or embryos
  • the past images and the current cells in the storage unit 110A can be displayed at the same time and displayed three-dimensionally at the same time.
  • the image acquisition unit 12A acquires an image from the imaging unit 140A in FIG. 9 as well as FIG. 1 (not shown)).
  • images of cells actually rotated using the cell rotation device 10A are accumulated in the database.
  • a three-dimensional image can be obtained by acquiring cell images (stereo images) with a plurality of imaging devices while changing the optical distance to the cell and synthesizing the images. It is also possible to generate images and store them in a database.
  • this method requires a plurality of imaging devices, which requires a large amount of equipment and costs.
  • a three-dimensional image is merely a synthesized image, and a completely accurate image may not be generated.
  • the images of the cells actually rotated using the cell rotation device 10A are accumulated in the database, an accurate image can be accumulated as a three-dimensional image. Since only one imaging device is required, the equipment can be simplified and the cost can be reduced.
  • 1 A of cell evaluation apparatuses were demonstrated as a single apparatus, it is not limited to this.
  • the first device includes a cell rotation device 10A, a first input device 11A, an image DB creation unit 15, and an image DB 16.
  • the second device includes a second input device 11A, an image acquisition unit 12A, an evaluation unit 13A, and an output device 14A.
  • the first device accumulates, in the image DB 16, images of cells rotated by the cell rotating device 10A.
  • the second device acquires the cell images accumulated in the image DB 16 of the first device, synthesizes them as necessary, and outputs them to the output device 14A.
  • the second device can also be realized using a general-purpose personal computer.
  • the first device includes a cell rotation device 10 ⁇ / b> A, a first input device 11 ⁇ / b> A, and an image DB creation unit 15.
  • the third device has an image DB 16.
  • the second device includes a second input device 11A, an image acquisition unit 12A, an evaluation unit 13A, and an output device 14A.
  • the first device stores the images of the cells rotated by the cell rotation device 10A in the image DB 16 of the third device.
  • the second device acquires the cell images accumulated in the image DB 16 of the third device, synthesizes them as necessary, and outputs them to the output device 14A.
  • the second apparatus can be realized using a general-purpose personal computer.
  • the first device, the second device, and the third device are connected to a network such as a LAN (Local Area Network) or the Internet.
  • the third apparatus is a so-called server. Has the role of a device.
  • this technique can also take the following structures.
  • a container that can contain cells and liquid;
  • An apparatus comprising: a rotating unit that generates a flow in the liquid in the container and rotates the cells.
  • the rotating unit generates a flow in a first direction in the liquid that contacts a first part that is a part of the surface of the cell, and rotates the cell around one axis. Having a device.
  • the apparatus according to (2) above, The rotating unit further causes the liquid in contact with a second part that is another part of the surface of the cell to flow in a second direction including a component in a direction opposite to the first direction.
  • the rotating unit has three or more sets of the first output port and the second output port, Each set is arranged so that the cell can be rotated around an axis including three orthogonal components.
  • the rotation control unit Detecting the direction and amount of rotation input from the input device, An apparatus for controlling the rotation direction and the rotation amount of the cells by controlling the flow of the liquid generated by the output ports based on the input rotation direction and rotation amount.
  • Each said output port generates a flow in the said liquid in the said accommodating part by generating a vibration in the said liquid in the said accommodating part.
  • An image acquisition unit that acquires an image of a cell corresponding to the rotation direction and rotation amount input from the input device;
  • An evaluation unit for evaluating the cell based on the acquired cell image;
  • the image acquisition unit A container capable of containing cells and liquid;
  • a rotating part for rotating the cell by generating a flow in the liquid in the containing part;
  • a rotation control unit for controlling the rotation direction and amount of rotation of the cell by controlling the rotation unit;
  • An information processing apparatus that acquires, as an image of the cell, an image based on the image of the cell acquired by the imaging unit of an apparatus having an imaging unit that captures the cell in the storage unit and acquires an image of the cell.
  • the information processing apparatus (11), The rotation control unit Detecting the direction and amount of rotation input from the input device, Based on the input rotation direction and rotation amount, the rotation unit is controlled to control the rotation direction and rotation amount of the cells, The imaging unit acquires an image of the cell in which the rotation direction and the rotation amount are controlled based on the input rotation direction and rotation amount, The information acquisition device, wherein the image acquisition unit acquires an image of the cell from the imaging unit.
  • the information processing apparatus Detecting the direction and amount of rotation input from the input device, From the storage device that stores the image of the cell acquired by the imaging unit and the rotation information related to the rotation direction and rotation amount of the cell in association with each other, the image of the cell corresponding to the input rotation direction and rotation amount Or reading a plurality of images from the storage device, and combining the read plurality of images to generate an image of a cell corresponding to the input rotation direction and rotation amount.
  • an image acquisition unit that acquires an image of a cell corresponding to the rotation direction and the rotation amount input from the input device;
  • the image acquisition unit A container capable of containing cells and liquid;
  • the program which acquires the image based on the image of the said cell which the said imaging part of the apparatus which has the imaging part which images the said cell in the said accommodating part and acquires the image of the said cell as an image of the said cell.
  • the image acquisition unit acquires an image of a cell corresponding to the rotation direction and the rotation amount input from the input device, An information processing method for evaluating the cell based on the acquired cell image,
  • the image acquisition unit A container capable of containing cells and liquid; A rotating part for rotating the cell by generating a flow in the liquid in the containing part;

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Organic Chemistry (AREA)
  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Biotechnology (AREA)
  • Genetics & Genomics (AREA)
  • Biomedical Technology (AREA)
  • Analytical Chemistry (AREA)
  • Sustainable Development (AREA)
  • Microbiology (AREA)
  • Biochemistry (AREA)
  • General Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Medicinal Chemistry (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Hardware Design (AREA)
  • Molecular Biology (AREA)
  • Theoretical Computer Science (AREA)
  • Cell Biology (AREA)
  • Virology (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Investigating Or Analysing Biological Materials (AREA)

Abstract

This device is equipped with an accommodation unit that can accommodate a cell and a liquid, and a rotation unit that generates a flow in the liquid in the accommodation unit and rotates the cell. The device is further equipped with a rotation control unit that detects the amount of rotation input from an input device, and, on the basis of the input amount of rotation, controls the flow of the liquid, said flow generated by output ports, and controls the amount of rotation of the cell.

Description

装置、情報処理装置、プログラム及び情報処理方法Apparatus, information processing apparatus, program, and information processing method
　本技術は、細胞を撮影して画像を取得するのに用いられる装置、情報処理装置、プログラム及び情報処理方法に関する。 The present technology relates to an apparatus, an information processing apparatus, a program, and an information processing method used for capturing an image by photographing a cell.
　細胞を撮影して画像を取得する技術（例えば、特許文献１参照）や、取得した細胞の画像に基づき細胞の質を評価する技術（例えば、特許文献２及び特許文献３参照）が知られている。 Techniques for capturing images by photographing cells (for example, see Patent Document 1) and techniques for evaluating cell quality based on the acquired cell images (for example, see Patent Document 2 and Patent Document 3) are known. Yes.
特開２０１１－１７６２０号公報JP 2011-17620 A 特開２０１０－１８１４０２号公報JP 2010-181402 A 特開２０１４－９０６９２号公報JP 2014-90692 A
　細胞を撮影して取得した細胞の画像に基づき細胞の質を評価する技術においては、評価の精度を一層向上することが望まれる。 In the technology for evaluating cell quality based on cell images acquired by photographing cells, it is desired to further improve the accuracy of the evaluation.
　以上のような事情に鑑み、本技術の目的は、細胞を撮影して取得した細胞の画像に基づき細胞の質を評価する技術において、評価の精度を一層向上することにある。 In view of the circumstances as described above, an object of the present technology is to further improve the accuracy of evaluation in a technology that evaluates cell quality based on an image of a cell acquired by photographing the cell.
　本技術の一実施形態に係る装置は、
　細胞及び液体を収容可能な収容部と、
　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と
　を具備する。 An apparatus according to an embodiment of the present technology is:
A container capable of containing cells and liquid;
And a rotating part that rotates the cells by generating a flow in the liquid in the accommodating part.
　これにより、手作業を要することなく、ユーザにとっては自動的に、細胞を回転させることができる。 This allows the cell to be automatically rotated for the user without the need for manual work.
　前記回転部は、前記細胞の表面の一部である第１の部位に接触する前記液体に第１の方向への流れを発生させて、１軸回りに前記細胞を回転させる第１の出力口を有する。 The rotating unit generates a flow in a first direction in the liquid that contacts a first part that is a part of the surface of the cell, and rotates the cell around one axis. Have
　このように、細胞の表面の少なくとも一部に接触する液体に流れを発生させれば、細胞を回転させることができる。 Thus, if a flow is generated in the liquid that contacts at least a part of the surface of the cell, the cell can be rotated.
　前記回転部は、さらに、前記細胞の前記表面の他の一部である第２の部位に接触する前記液体に、前記第１の方向と逆方向の成分を含む第２の方向への流れを発生させて、前記１軸回りに回転する前記細胞が前記第１の方向へ流れるのを妨げて前記１軸回りに前記細胞を回転させる第２の出力口を有する。 The rotating unit further causes the liquid in contact with a second part that is another part of the surface of the cell to flow in a second direction including a component in a direction opposite to the first direction. And generating a second output port for preventing the cells rotating around the one axis from flowing in the first direction and rotating the cells around the one axis.
　典型的には、第２の出力口は、細胞の中心に対して第１の部位と点対称である第２の部位に接触する培養液に、第１の方向と逆方向の第２の方向への流れを発生させる。これにより、細胞の回転軸が細胞の中心を通るように制御され、細胞の位置が安定し、より安定的に１軸回りに細胞を回転させることができる。 Typically, the second output port has a second direction opposite to the first direction to the culture medium in contact with the second part that is point-symmetric with the first part with respect to the center of the cell. Generate a flow to Thereby, the rotation axis of the cell is controlled so as to pass through the center of the cell, the position of the cell is stabilized, and the cell can be rotated more stably around one axis.
　装置は、
　　入力装置から入力される回転量を検出し、
　　前記入力された回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記細胞の回転量を制御する
　回転制御部
　をさらに具備する。 The device
Detect the amount of rotation input from the input device,
The apparatus further includes a rotation control unit that controls the flow amount of the cells by controlling the flow of the liquid generated by each of the output ports based on the input rotation amount.
　これにより、ユーザにとっては入力装置を用いて任意の回転量だけ、細胞を回転させることができる。 This allows the user to rotate the cell by an arbitrary amount of rotation using the input device.
　前記回転部は、前記第１の出力口及び前記第２の出力口の組を、２組以上有し、
　前記各組は、直交する２軸の成分を含む軸回りに前記細胞を回転させることが可能なように配置される。 The rotating unit has two or more sets of the first output port and the second output port,
Each set is arranged so that the cells can be rotated around an axis including two orthogonal components.
　前記回転部は、前記第１の出力口及び前記第２の出力口の組を、３組以上有し、
　前記各組は、直交する３軸の成分を含む軸回りに前記細胞を回転させることが可能なように配置される。 The rotating unit has three or more sets of the first output port and the second output port,
Each set is arranged so that the cells can be rotated around an axis including three orthogonal components.
　これにより、細胞を回転させることで、立体的な（３次元的な）形状を有する細胞を、３次元的な複数の向きから観察することができる。 Thereby, by rotating the cells, cells having a three-dimensional (three-dimensional) shape can be observed from a plurality of three-dimensional directions.
　前記回転制御部は、
　　前記入力装置から入力される回転方向及び回転量を検出し、
　　前記入力された回転方向及び回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記細胞の回転方向及び回転量を制御する。 The rotation control unit
Detecting the direction and amount of rotation input from the input device,
Based on the input rotation direction and rotation amount, the flow of the liquid generated by each output port is controlled to control the rotation direction and rotation amount of the cells.
　これにより、ユーザにとっては入力装置を用いて任意の回転方向に任意の回転量だけ、細胞を回転させることができる。 This allows the user to rotate the cell by an arbitrary amount of rotation in an arbitrary rotation direction using the input device.
　装置は、
　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部をさらに具備し、
　前記回転制御部は、
　　前記撮像部が撮像して得た前記細胞の回転前の画像と、前記細胞の回転後の画像とに基づき、前記細胞の実際の回転方向及び回転量を算出し、
　　前記細胞の画像に基づき算出した実際の回転方向及び回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記入力された回転方向及び回転量を達成する。 The device
An image capturing unit that captures an image of the cell by capturing the cell in the housing unit;
The rotation control unit
Based on the image before rotation of the cell obtained by the imaging unit and the image after rotation of the cell, the actual rotation direction and amount of rotation of the cell are calculated,
Based on the actual rotation direction and rotation amount calculated based on the cell image, the flow of the liquid generated by each output port is controlled to achieve the input rotation direction and rotation amount.
　このように、回転前後の画像に基づき算出した実際の回転方向及び回転量をフィードバックし、入力された回転方向及び回転量が達成されるまで、回転部を繰り返し制御すれば、入力装置から入力された（すなわち、ユーザが目標とする）回転方向及び回転量だけ細胞の回転を達成する確実性を高めることができる。 In this way, if the actual rotation direction and rotation amount calculated based on the images before and after the rotation are fed back and the rotation unit is repeatedly controlled until the input rotation direction and rotation amount are achieved, it is input from the input device. In addition, the certainty of achieving the rotation of the cell by the rotation direction and the rotation amount (that is, the target of the user) can be increased.
　前記各出力口は、前記収容部内の前記液体に流体を注入することで、前記収容部内の前記液体に流れを発生させる。 Each of the output ports injects a fluid into the liquid in the container, thereby generating a flow in the liquid in the container.
　典型的には、各出力口から収容部内の液体と同じ液体を注入することで、収容部内の液体に流れを発生させてもよい。あるいは、収容部内の液体と異なる液体又は気体を注入してもよい。 Typically, a flow may be generated in the liquid in the container by injecting the same liquid as the liquid in the container from each output port. Or you may inject | pour the liquid or gas different from the liquid in a accommodating part.
　前記各出力口は、前記収容部内の前記液体に振動を発生させることで、前記収容部内の前記液体に流れを発生させる。 The output ports generate a flow in the liquid in the storage unit by generating vibrations in the liquid in the storage unit.
　例えば、各出力口から超音波を発生させることにより、収容部内の液体に振動を発生させてもよい。 For example, vibrations may be generated in the liquid in the container by generating ultrasonic waves from each output port.
　本技術の一実施形態に係る情報処理装置は、
　入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得する画像取得部と、
　前記取得した細胞の画像に基づき、前記細胞を評価する評価部と
　を具備し、
　前記画像取得部は、
　　細胞及び液体を収容可能な収容部と、
　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
　　前記回転部を制御して、前記細胞の回転方向及び回転量を制御する回転制御部と、
　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する。 An information processing apparatus according to an embodiment of the present technology is:
An image acquisition unit for acquiring an image of a cell corresponding to the rotation direction and the rotation amount input from the input device;
An evaluation unit for evaluating the cell based on the acquired cell image;
The image acquisition unit
A container capable of containing cells and liquid;
A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
A rotation control unit for controlling the rotation direction and amount of rotation of the cell by controlling the rotation unit;
An image based on the image of the cell acquired by the imaging unit of the apparatus having an imaging unit that captures the cell in the storage unit and acquires the image of the cell is acquired as the image of the cell.
　本形態によれば、画像処理に基づき細胞の質を評価することで、人間の主観を排除した客観的な評価をユーザに提示することができる。 According to the present embodiment, by evaluating the quality of cells based on image processing, an objective evaluation that excludes human subjectivity can be presented to the user.
　前記回転制御部は、
　　前記入力装置から入力される回転方向及び回転量を検出し、
　　前記入力された回転方向及び回転量に基づき、前記回転部を制御して、前記細胞の回転方向及び回転量を制御し、
　前記撮像部は、前記入力された回転方向及び回転量に基づき回転方向及び回転量が制御された前記細胞の画像を取得し、
　前記画像取得部は、前記撮像部から、前記細胞の画像を取得する。 The rotation control unit
Detecting the direction and amount of rotation input from the input device,
Based on the input rotation direction and rotation amount, the rotation unit is controlled to control the rotation direction and rotation amount of the cells,
The imaging unit acquires an image of the cell in which the rotation direction and the rotation amount are controlled based on the input rotation direction and rotation amount,
The image acquisition unit acquires an image of the cell from the imaging unit.
　このように、回転前後の画像に基づき算出した実際の回転方向及び回転量をフィードバックし、入力された回転方向及び回転量が達成されるまで、回転部を繰り返し制御すれば、入力装置から入力された（すなわち、ユーザが目標とする）回転方向及び回転量だけ細胞の回転を達成する確実性を高めることができる。 In this way, if the actual rotation direction and rotation amount calculated based on the images before and after the rotation are fed back and the rotation unit is repeatedly controlled until the input rotation direction and rotation amount are achieved, it is input from the input device. In addition, the certainty of achieving the rotation of the cell by the rotation direction and the rotation amount (that is, the target of the user) can be increased.
　前記画像取得部は、
　　前記入力装置から入力される回転方向及び回転量を検出し、
　　前記撮像部が取得した前記細胞の画像と前記細胞の回転方向及び回転量に関連する回転情報とを互いに関連付けて記憶する記憶装置から、前記入力された回転方向及び回転量に対応する細胞の画像を読み出し、又は
　　前記記憶装置から複数の画像を読み出し、前記読み出した複数の画像を合成して、前記入力された回転方向及び回転量に対応する細胞の画像を生成する。 The image acquisition unit
Detecting the direction and amount of rotation input from the input device,
From the storage device that stores the image of the cell acquired by the imaging unit and the rotation information related to the rotation direction and rotation amount of the cell in association with each other, the image of the cell corresponding to the input rotation direction and rotation amount Or reading a plurality of images from the storage device and combining the read images to generate an image of a cell corresponding to the input rotation direction and rotation amount.
　本形態によれば、回転させた細胞の画像を蓄積しておくことで、事後的に、細胞を３次元的に観察や評価することができる。例えば細胞が受精卵や胚の場合、細胞分裂が進む前の画像を蓄積しておけば、過去の画像と、収容部内の現在の細胞とを、３次元的に比較し観察することも可能となる。 According to this embodiment, by accumulating images of rotated cells, the cells can be observed and evaluated three-dimensionally after the fact. For example, if the cells are fertilized eggs or embryos, it is possible to compare and observe the past images and the current cells in the container three-dimensionally by accumulating images before cell division proceeds. Become.
　本技術の一実施形態に係るプログラムは、
　入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得する画像取得部と、
　前記取得した細胞の画像に基づき、前記細胞を評価する評価部
　として情報処理装置を機能させるプログラムであって、
　前記画像取得部は、
　　細胞及び液体を収容可能な収容部と、
　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する。 A program according to an embodiment of the present technology is:
An image acquisition unit for acquiring an image of a cell corresponding to the rotation direction and the rotation amount input from the input device;
A program for causing an information processing device to function as an evaluation unit for evaluating the cell based on the acquired cell image,
The image acquisition unit
A container capable of containing cells and liquid;
A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
An image based on the image of the cell acquired by the imaging unit of the apparatus having an imaging unit that captures the cell in the storage unit and acquires the image of the cell is acquired as the image of the cell.
　本技術の一実施形態に係る情報処理方法は、
　画像取得部により、入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得し、
　前記取得した細胞の画像に基づき、前記細胞を評価する
　情報処理方法であって、
　前記画像取得部は、
　　細胞及び液体を収容可能な収容部と、
　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する。 An information processing method according to an embodiment of the present technology includes:
The image acquisition unit acquires an image of a cell corresponding to the rotation direction and the rotation amount input from the input device,
An information processing method for evaluating the cell based on the acquired cell image,
The image acquisition unit
A container capable of containing cells and liquid;
A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
An image based on the image of the cell acquired by the imaging unit of the apparatus having an imaging unit that captures the cell in the storage unit and acquires the image of the cell is acquired as the image of the cell.
　以上のように、本技術によれば、細胞を撮影して取得した細胞の画像に基づき細胞の質を評価する技術において、評価の精度を一層向上することができる。 As described above, according to the present technology, the accuracy of evaluation can be further improved in the technology for evaluating the quality of a cell based on an image of the cell acquired by photographing the cell.
　なお、ここに記載された効果は必ずしも限定されるものではなく、本開示中に記載されたいずれかの効果であってもよい。 It should be noted that the effects described here are not necessarily limited, and may be any of the effects described in the present disclosure.
第１の実施形態に係る細胞評価装置（情報処理装置）の構成を示すブロック図である。It is a block diagram which shows the structure of the cell evaluation apparatus (information processing apparatus) which concerns on 1st Embodiment. 細胞回転装置を模式的に示す図である。It is a figure which shows a cell rotation apparatus typically. 収容部内の細胞と培養液の流れとの関係を模式的に示す図である。It is a figure which shows typically the relationship between the cell in a accommodating part, and the flow of a culture solution. 細胞評価装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of a cell evaluation apparatus. 細胞の質の評価結果を出力する方法の一具体例を説明するための図である。It is a figure for demonstrating one specific example of the method of outputting the evaluation result of a cell quality. 細胞の質の評価結果を出力する方法の別の具体例を説明するための図である。It is a figure for demonstrating another specific example of the method of outputting the evaluation result of a cell quality. 細胞の質の評価結果を出力する方法の別の具体例を説明するための図である。It is a figure for demonstrating another specific example of the method of outputting the evaluation result of a cell quality. 細胞の質の評価結果を出力する方法の別の具体例を説明するための図である。It is a figure for demonstrating another specific example of the method of outputting the evaluation result of a cell quality. 第２の実施形態に係る細胞評価装置（情報処理装置）の構成を示すブロック図である。It is a block diagram which shows the structure of the cell evaluation apparatus (information processing apparatus) which concerns on 2nd Embodiment. 細胞評価装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of a cell evaluation apparatus.
　以下、本技術に係る実施形態を、図面を参照しながら説明する。 Hereinafter, embodiments of the present technology will be described with reference to the drawings.
　（Ｉ．第１の実施形態）
　（１．細胞評価装置の構成）
　図１は、第１の実施形態に係る細胞評価装置（情報処理装置）の構成を示すブロック図である。
　本明細書において、「細胞」（単数形）は、単一の細胞と、複数の細胞の集合体とを少なくとも概念的に含む。「細胞」は、一例として、何れも立体的な（３次元的な）形状を有する、生物の未受精の卵細胞（卵子）、受精卵、胚を少なくとも含む。 (I. First Embodiment)
(1. Configuration of cell evaluation apparatus)
FIG. 1 is a block diagram showing a configuration of a cell evaluation apparatus (information processing apparatus) according to the first embodiment.
As used herein, “cell” (singular) includes at least conceptually a single cell and a collection of a plurality of cells. As an example, the “cell” includes at least an unfertilized egg cell (egg), a fertilized egg, and an embryo of an organism each having a three-dimensional (three-dimensional) shape.
　細胞評価装置１は、細胞回転装置１０（装置）と、入力装置１１と、画像取得部１２と、評価部１３と、出力装置１４とを有する。 The cell evaluation device 1 includes a cell rotation device 10 (device), an input device 11, an image acquisition unit 12, an evaluation unit 13, and an output device 14.
　細胞評価装置１の少なくとも画像取得部１２と、評価部１３と、細胞回転装置１０に含まれる回転制御部１３０（後述）とは、非一過性のコンピュータ読み取り可能な記録媒体の一例であるＲＯＭ（Read Only Memory）に記録されたプログラムをＲＡＭ（Random Access Memory）にロードしてＣＰＵ（Central Processing Unit）が実行することにより実現される。 At least the image acquisition unit 12, the evaluation unit 13, and the rotation control unit 130 (described later) included in the cell rotation device 10 of the cell evaluation device 1 are ROMs that are examples of non-transitory computer-readable recording media. This is realized by loading a program recorded in (Read Only Memory) into a RAM (Random Access Memory) and executing it by a CPU (Central Processing Unit).
　入力装置１１は、３軸方向の回転方向及び回転量を入力可能な装置である。入力装置１１としては、例えば、トラックボール、タッチパッド、マウス、キーボード等を利用可能である。入力装置１１としてトラックボールを用いる場合、他の装置に比べて、ユーザにとっては直感的に３軸方向の回転方向及び回転量を入力することができる。 The input device 11 is a device that can input a rotation direction and a rotation amount in three axis directions. As the input device 11, for example, a trackball, a touch pad, a mouse, a keyboard, or the like can be used. When a trackball is used as the input device 11, it is possible for the user to input the rotation direction and the rotation amount in the three-axis directions more intuitively than other devices.
　細胞回転装置１０は、細胞及び液体を収容可能な収容部１１０と、入力装置１１から入力される３軸方向の回転方向及び回転量に基づき、収容部内の細胞を回転させる回転部１２０とを有する。細胞回転装置１０のより具体的な構成は、後で詳細に説明する。 The cell rotation device 10 includes a storage unit 110 that can store cells and liquids, and a rotation unit 120 that rotates cells in the storage unit based on the rotation direction and rotation amount in the three axial directions input from the input device 11. . A more specific configuration of the cell rotation device 10 will be described in detail later.
　画像取得部１２は、細胞回転装置１０の収容部内の細胞を撮像部（後述）が常時撮像して得た画像をリアルタイムに取得する。 The image acquisition unit 12 acquires in real time an image obtained by an imaging unit (described later) always imaging cells in the housing unit of the cell rotation device 10.
　評価部１３は、画像取得部１２が取得した細胞の画像に基づき、細胞を評価する。 The evaluation unit 13 evaluates cells based on the cell image acquired by the image acquisition unit 12.
　出力装置１４は、少なくともディスプレイのように画像を出力する表示装置であり、スピーカーのように音声を出力する装置を含んでも良い。表示装置としての出力装置１４は、画像取得部１２が取得する細胞の画像をリアルタイムに表示する。出力装置１４は、また、評価部１３による細胞の評価の結果を、画像や音声等により出力する。 The output device 14 is a display device that outputs an image at least like a display, and may include a device that outputs sound like a speaker. The output device 14 as a display device displays a cell image acquired by the image acquisition unit 12 in real time. The output device 14 also outputs the result of cell evaluation by the evaluation unit 13 as an image, sound, or the like.
　（２．細胞回転装置の構成）
　図２は、細胞回転装置を模式的に示す図である。
　細胞回転装置１０は、収容部１１０と、回転部１２０と、回転制御部１３０と、撮像部１４０とを有する。 (2. Configuration of cell rotation device)
FIG. 2 is a diagram schematically showing a cell rotation device.
The cell rotation device 10 includes a storage unit 110, a rotation unit 120, a rotation control unit 130, and an imaging unit 140.
　収容部１１０は、液体を収容し、液体内に１個の細胞を収容しつつ一定の位置に留めることが可能である。「液体」は、典型的には、細胞を培養するのに適した培養液であり、以下、培養液として説明する。例えば、収容部１１０は、上面が開放した細い円管状としてもよい。あるいは、シャーレ等の平皿を複数の隔壁で水平方向に格子状に区切り、１個のシャーレに複数の収容部１１０を設けてもよい。言い換えれば、格子の１区画が１つの収容部１１０として機能する。格子の１区画は、上面が開放した角柱や円柱状としてもよい。何れの場合も、収容部１１０は、１個の細胞を収容しつつ一定の位置に留めることが可能なサイズ及び形状とすればよい。具体的には、収容部１１０は、その底面が略半球状に窪んでいてもよく、その直径は細胞のサイズに比べて大きすぎなければよく、その深さは細胞のサイズに比べて浅すぎなければよい。以下の説明において、何個の収容部１１０が設けられているかは問題とせず、１個の収容部１１０についてのみ記載する。 The accommodating part 110 accommodates a liquid and can be held at a certain position while accommodating one cell in the liquid. “Liquid” is typically a culture solution suitable for culturing cells, and will be described below as a culture solution. For example, the accommodating part 110 is good also as a thin circular tube with which the upper surface was open | released. Alternatively, a flat dish such as a petri dish may be divided into a lattice shape in the horizontal direction by a plurality of partition walls, and a plurality of accommodating portions 110 may be provided in one petri dish. In other words, one section of the lattice functions as one accommodating portion 110. One section of the lattice may be a prism or a cylinder whose upper surface is open. In any case, the accommodating part 110 should just be the size and shape which can hold | maintain in a fixed position, accommodating one cell. Specifically, the receiving part 110 may have a substantially hemispherical bottom surface, and its diameter should not be too large compared to the cell size, and its depth is too shallow compared to the cell size. If there is no. In the following description, it does not matter how many accommodating portions 110 are provided, and only one accommodating portion 110 is described.
　回転部１２０は、ポンプＰと、Ｘ軸回転用バルブＶｘと、Ｙ軸回転用バルブＶｙと、Ｚ軸回転用バルブＶｚと、第１のＸ軸噴出口Ｘ１（第１の出力口）と、第２のＸ軸噴出口Ｘ２（第２の出力口）と、第１のＹ軸噴出口Ｙ１（第１の出力口）と、第２のＹ軸噴出口Ｙ２（第２の出力口）と、第１のＺ軸噴出口Ｚ１（第１の出力口）と、第２のＺ軸噴出口Ｚ２（第２の出力口）とを有する。本明細書において、「Ｘ軸」、「Ｙ軸」及び「Ｚ軸」は直交する３軸を意味し、水平方向及び垂直方向を意味するものでは無い。 The rotating unit 120 includes a pump P, an X-axis rotating valve Vx, a Y-axis rotating valve Vy, a Z-axis rotating valve Vz, a first X-axis outlet X1 (first output port), A second X-axis outlet X2 (second output port), a first Y-axis outlet Y1 (first output port), a second Y-axis outlet Y2 (second output port), and The first Z-axis outlet Z1 (first output port) and the second Z-axis outlet Z2 (second output port). In this specification, “X axis”, “Y axis” and “Z axis” mean three orthogonal axes, and do not mean a horizontal direction and a vertical direction.
　収容部１１０の内壁面に、第１のＸ軸噴出口Ｘ１と、第２のＸ軸噴出口Ｘ２と、第１のＹ軸噴出口Ｙ１と、第２のＹ軸噴出口Ｙ２と、第１のＺ軸噴出口Ｚ１と、第２のＺ軸噴出口Ｚ２とが形成される（収容部１１０が複数の場合、全ての収容部１１０それぞれに対して、固有に、各噴出口が形成される）。第１のＸ軸噴出口Ｘ１と、第２のＸ軸噴出口Ｘ２と、第１のＹ軸噴出口Ｙ１と、第２のＹ軸噴出口Ｙ２と、第１のＺ軸噴出口Ｚ１と、第２のＺ軸噴出口Ｚ２とは、それぞれ、収容部１１０内の培養液に流体を噴出（注入）することで、収容部１１０内の培養液に流れを発生させる。「流体」は、典型的には、収容部１１０内の培養液と同じ液体であるが、収容部１１０内の培養液と異なる液体又は気体でもよい。 A first X-axis jet port X1, a second X-axis jet port X2, a first Y-axis jet port Y1, a second Y-axis jet port Y2, and a first X-axis jet port X1, Z-axis outlet Z1 and second Z-axis outlet Z2 are formed (when there are a plurality of accommodating portions 110, each of the ejecting ports is formed uniquely for each of the accommodating portions 110). ). A first X-axis outlet X1, a second X-axis outlet X2, a first Y-axis outlet Y1, a second Y-axis outlet Y2, a first Z-axis outlet Z1, Each of the second Z-axis ejection ports Z <b> 2 generates a flow in the culture solution in the storage unit 110 by ejecting (injecting) a fluid into the culture solution in the storage unit 110. The “fluid” is typically the same liquid as the culture solution in the storage unit 110, but may be a liquid or gas different from the culture solution in the storage unit 110.
　ポンプＰは、第１のＸ軸噴出口Ｘ１と、第２のＸ軸噴出口Ｘ２と、第１のＹ軸噴出口Ｙ１と、第２のＹ軸噴出口Ｙ２と、第１のＺ軸噴出口Ｚ１と、第２のＺ軸噴出口Ｚ２とにそれぞれ流路を介して接続し、これら噴出口に培養液を供給する。各流路の一部（ポンプ側ではなく噴出口側の部分）は、収容部１１０の壁面内に形成される（収容部１１０が複数の場合、全ての収容部１１０それぞれに対して、固有に、各流路が形成される）。 The pump P includes a first X-axis outlet X1, a second X-axis outlet X2, a first Y-axis outlet Y1, a second Y-axis outlet Y2, and a first Z-axis outlet. The outlet Z1 and the second Z-axis outlet Z2 are connected to each other through a flow path, and the culture solution is supplied to these outlets. A part of each flow path (portion side, not pump side) is formed in the wall surface of the accommodating part 110 (if there are a plurality of accommodating parts 110, each of the accommodating parts 110 is inherently unique. , Each flow path is formed).
　ポンプＰと、第１のＸ軸噴出口Ｘ１及び第２のＸ軸噴出口Ｘ２とを接続する流路には、Ｘ軸回転用バルブＶｘが設けられる。ポンプＰと、第１のＹ軸噴出口Ｙ１及び第２のＹ軸噴出口Ｙ２とを接続する流路には、Ｙ軸回転用バルブＶｙが設けられる。ポンプＰと、第１のＺ軸噴出口Ｚ１及び第２のＺ軸噴出口Ｚ２とを接続する流路には、Ｚ軸回転用バルブＶｚが設けられる。 An X-axis rotation valve Vx is provided in a flow path that connects the pump P to the first X-axis outlet X1 and the second X-axis outlet X2. A Y-axis rotation valve Vy is provided in a flow path that connects the pump P to the first Y-axis outlet Y1 and the second Y-axis outlet Y2. A Z-axis rotation valve Vz is provided in a flow path that connects the pump P to the first Z-axis nozzle Z1 and the second Z-axis nozzle Z2.
　回転制御部１３０は、入力装置１１から入力される回転方向及び回転量を検出し、入力された回転方向及び回転量に基づき、各噴出口Ｘ１、Ｘ２、Ｙ１、Ｙ２、Ｚ１、Ｚ２が発生する培養液の流れを個別に制御して、細胞Ｃの回転方向及び回転量を制御する。具体的には、回転制御部１３０は、Ｘ軸回転用バルブＶｘを開閉制御することで、第１のＸ軸噴出口Ｘ１及び第２のＸ軸噴出口Ｘ２が噴出する培養液の噴出速度及び噴出量を制御する。回転制御部１３０は、Ｙ軸回転用バルブＶｙを開閉制御することで、第１のＹ軸噴出口Ｙ１及び第２のＹ軸噴出口Ｙ２が噴出する培養液の噴出速度及び噴出量を制御する。回転制御部１３０は、Ｚ軸回転用バルブＶｚを開閉制御することで、第１のＺ軸噴出口Ｚ１及び第２のＺ軸噴出口Ｚ２が噴出する培養液の噴出速度及び噴出量を制御する。「培養液の噴出速度及び噴出量」の算出方法は後でより詳細に説明する。 The rotation control unit 130 detects the rotation direction and the rotation amount input from the input device 11, and the respective ejection ports X 1, X 2, Y 1, Y 2, Z 1, Z 2 are generated based on the input rotation direction and rotation amount. The flow direction of the cell C and the amount of rotation are controlled by individually controlling the flow of the culture solution. Specifically, the rotation control unit 130 controls the opening and closing of the X-axis rotation valve Vx so that the culture solution ejection speed ejected from the first X-axis ejection port X1 and the second X-axis ejection port X2 and Control the amount of ejection. The rotation control unit 130 controls the ejection speed and the ejection amount of the culture solution ejected from the first Y-axis ejection port Y1 and the second Y-axis ejection port Y2 by controlling the opening and closing of the Y-axis rotation valve Vy. . The rotation control unit 130 controls the ejection speed and the ejection amount of the culture solution ejected from the first Z-axis ejection port Z1 and the second Z-axis ejection port Z2 by opening and closing the Z-axis rotation valve Vz. . The calculation method of “the ejection speed and ejection volume of the culture solution” will be described in detail later.
　撮像部１４０は、光学顕微鏡と撮像素子とを少なくとも有し、撮像素子を用いて光学顕微鏡像を撮像する。撮像部１４０は、収容部１１０内の細胞Ｃを常時撮像して、細胞Ｃの画像を取得する。撮像部１４０は、常時取得する細胞Ｃの画像を、リアルタイムで回転制御部１３０に供給する。 The imaging unit 140 includes at least an optical microscope and an imaging element, and captures an optical microscope image using the imaging element. The imaging unit 140 always captures the cell C in the storage unit 110 and acquires an image of the cell C. The imaging unit 140 supplies the image of the cell C that is always acquired to the rotation control unit 130 in real time.
　回転制御部１３０は、撮像部１４０が常時撮像して得た細胞Ｃの画像に基づき、細胞Ｃの回転方向及び回転量を算出する。回転制御部１３０は、細胞Ｃの画像に基づき算出した回転方向及び回転量に基づき、各噴出口Ｘ１、Ｘ２、Ｙ１、Ｙ２、Ｚ１、Ｚ２が発生する培養液の流れを個別に制御して、入力装置１１から入力された回転方向及び回転量を達成する。 The rotation control unit 130 calculates the rotation direction and the rotation amount of the cell C based on the image of the cell C obtained by the imaging unit 140 constantly capturing images. The rotation control unit 130 individually controls the flow of the culture solution generated by each of the ejection ports X1, X2, Y1, Y2, Z1, Z2 based on the rotation direction and the rotation amount calculated based on the image of the cell C, The rotation direction and the rotation amount input from the input device 11 are achieved.
　（３．細胞と培養液の流れとの関係）
　図３は、収容部内の細胞と培養液の流れとの関係を模式的に示す図である。
　各噴出口Ｘ１、Ｘ２、Ｙ１、Ｙ２、Ｚ１、Ｚ２が収容部１１０内に発生する培養液の流れと、細胞Ｃの回転方向とを、より具体的に説明する。図３では、便宜的に、略球体の細胞Ｃに３軸周りの回転方向を示す曲線を付す。 (3. Relationship between cells and culture fluid flow)
FIG. 3 is a diagram schematically showing the relationship between the cells in the container and the flow of the culture solution.
The flow of the culture solution generated in the accommodating part 110 by each of the jet ports X1, X2, Y1, Y2, Z1, and Z2 and the rotation direction of the cells C will be described more specifically. In FIG. 3, for the sake of convenience, a curved line indicating the rotation direction around three axes is attached to the substantially spherical cell C.
　第１のＸ軸噴出口Ｘ１は、収容部１１０内の細胞Ｃの表面の一部である第１の部位Ｐｘ１に接触する培養液に、Ｘ軸に沿う一方向（第１の方向）への流れＦｘ１を発生させて、第１の部位Ｐｘ１を貫通する１軸回りに細胞Ｃを回転させる。第２のＸ軸噴出口Ｘ２は、細胞Ｃの表面の他の一部である第２の部位Ｐｘ２に接触する培養液に、Ｘ軸に沿う一方向と逆方向の成分を含む方向（第２の方向）への流れを発生させて、第１の部位Ｐｘ１を貫通する１軸回りに回転する細胞ＣがＸ軸に沿う一方向へ流れるのを妨げて第１の部位Ｐｘ１を貫通する１軸回りに細胞Ｃを回転させる。典型的には、第２のＸ軸噴出口Ｘ２は、細胞Ｃの中心に対して第１の部位Ｐｘ１と点対称である第２の部位Ｐｘ２に接触する培養液に、Ｘ軸に沿う一方向と逆方向（第２の方向）への流れを発生させる。これにより、細胞Ｃの回転軸（第１の部位Ｐｘ１を貫通する１軸）が、細胞Ｃの重心を通るように制御され、細胞Ｃの位置が安定し、安定的に第１の部位Ｐｘ１及び第２の部位Ｐｘ２を貫通する１軸回りに細胞Ｃを回転させることができる。 The first X-axis spout X1 is directed to the culture solution in contact with the first part Px1, which is a part of the surface of the cell C in the accommodating part 110, in one direction (first direction) along the X-axis. A flow Fx1 is generated to rotate the cell C around one axis that penetrates the first part Px1. The second X-axis spout X2 is a direction in which the culture solution in contact with the second part Px2 that is another part of the surface of the cell C includes a component in the direction opposite to the one direction along the X-axis (second Uniaxially passing through the first part Px1 by preventing the cell C rotating around one axis passing through the first part Px1 from flowing in one direction along the X axis. Rotate cell C around. Typically, the second X-axis outlet X2 is arranged in one direction along the X-axis with respect to the culture solution that contacts the second part Px2 that is point-symmetric with the first part Px1 with respect to the center of the cell C. And a flow in the opposite direction (second direction) is generated. As a result, the rotation axis of the cell C (one axis that penetrates the first part Px1) is controlled so as to pass through the center of gravity of the cell C, the position of the cell C is stabilized, and the first part Px1 and The cell C can be rotated around one axis penetrating the second part Px2.
　第１のＹ軸噴出口Ｙ１は、収容部１１０内の細胞Ｃの表面の一部である第１の部位Ｐｙ１に接触する培養液に、Ｙ軸に沿う一方向（第１の方向）への流れＦｙ１を発生させて、第１の部位Ｐｙ１を貫通する１軸回りに細胞Ｃを回転させる。第２のＹ軸噴出口Ｙ２は、細胞Ｃの表面の他の一部である第２の部位Ｐｙ２に接触する培養液に、Ｙ軸に沿う一方向と逆方向の成分を含む方向（第２の方向）への流れを発生させて、第１の部位Ｐｙ１を貫通する１軸回りに回転する細胞ＣがＹ軸に沿う一方向へ流れるのを妨げて第１の部位Ｐｙ１を貫通する１軸回りに細胞Ｃを回転させる。典型的には、第２のＹ軸噴出口Ｙ２は、細胞Ｃの中心に対して第１の部位Ｐｙ１と点対称である第２の部位Ｐｙ２に接触する培養液に、Ｙ軸に沿う一方向と逆方向（第２の方向）への流れを発生させる。これにより、細胞Ｃの回転軸（第１の部位Ｐｙ１を貫通する１軸）が、細胞Ｃの中心を通るように制御され、細胞Ｃの位置が安定し、安定的に第１の部位Ｐｙ１及び第２の部位Ｐｙ２を貫通する１軸回りに細胞Ｃを回転させることができる。 The first Y-axis ejection port Y1 is directed to the culture solution that contacts the first part Py1 that is a part of the surface of the cell C in the accommodating portion 110 in one direction (first direction) along the Y-axis. A flow Fy1 is generated to rotate the cell C around one axis penetrating the first site Py1. The second Y-axis spout Y2 includes a direction in which the culture solution in contact with the second part Py2 that is another part of the surface of the cell C includes a component in the direction opposite to the one direction along the Y-axis (second Uniaxially passing through the first part Py1 by preventing the cells C rotating around one axis passing through the first part Py1 from flowing in one direction along the Y axis. Rotate cell C around. Typically, the second Y-axis outlet Y2 is unidirectional along the Y-axis to the culture solution that contacts the second site Py2 that is point-symmetric with the first site Py1 with respect to the center of the cell C. And a flow in the opposite direction (second direction) is generated. Thereby, the rotation axis of the cell C (one axis penetrating the first part Py1) is controlled to pass through the center of the cell C, the position of the cell C is stabilized, and the first part Py1 and The cell C can be rotated around one axis that penetrates the second site Py2.
　第１のＺ軸噴出口Ｚ１は、収容部１１０内の細胞Ｃの表面の一部である第１の部位Ｐｚ１に接触する培養液に、Ｚ軸に沿う一方向（第１の方向）への流れＦｚ１を発生させて、第１の部位Ｐｚ１を貫通する１軸回りに細胞Ｃを回転させる。第２のＺ軸噴出口Ｚ２は、細胞Ｃの表面の他の一部である第２の部位Ｐｚ２に接触する培養液に、Ｚ軸に沿う一方向と逆方向の成分を含む方向（第２の方向）への流れを発生させて、第１の部位Ｐｚ１を貫通する１軸回りに回転する細胞ＣがＺ軸に沿う一方向へ流れるのを妨げて第１の部位Ｐｚ１を貫通する１軸回りに細胞Ｃを回転させる。典型的には、第２のＺ軸噴出口Ｚ２は、細胞Ｃの中心に対して第１の部位Ｐｚ１と点対称である第２の部位Ｐｚ２に接触する培養液に、Ｚ軸に沿う一方向と逆方向（第２の方向）への流れを発生させる。これにより、細胞Ｃの回転軸（第１の部位Ｐｚ１を貫通する１軸）が、細胞Ｃの中心を通るように制御され、細胞Ｃの位置が安定し、安定的に第１の部位Ｐｚ１及び第２の部位Ｐｚ２を貫通する１軸回りに細胞Ｃを回転させることができる。 The first Z-axis ejection port Z1 is directed to the culture solution that contacts the first part Pz1 that is a part of the surface of the cell C in the accommodating portion 110 in one direction (first direction) along the Z-axis. A flow Fz1 is generated to rotate the cell C around one axis penetrating the first part Pz1. The second Z-axis ejection port Z2 includes a direction in which the culture solution in contact with the second part Pz2 that is another part of the surface of the cell C includes a component in the direction opposite to the one direction along the Z-axis (second Uniaxially passing through the first part Pz1 by preventing the cell C rotating around one axis passing through the first part Pz1 from flowing in one direction along the Z axis. Rotate cell C around. Typically, the second Z-axis outlet Z2 is unidirectional along the Z-axis to the culture solution that contacts the second site Pz2 that is point-symmetric with the first site Pz1 with respect to the center of the cell C. And a flow in the opposite direction (second direction) is generated. Thereby, the rotation axis of the cell C (one axis penetrating the first part Pz1) is controlled to pass through the center of the cell C, the position of the cell C is stabilized, and the first part Pz1 and The cell C can be rotated around one axis that penetrates the second portion Pz2.
　なお、より正確且つ容易に、３軸それぞれについて時計回り及び反時計回りの双方向に細胞Ｃを回転させるためには、回転部１２０（ポンプＰと、Ｘ軸回転用バルブＶｘと、Ｙ軸回転用バルブＶｙと、Ｚ軸回転用バルブＶｚと、第１のＸ軸噴出口Ｘ１と、第２のＸ軸噴出口Ｘ２と、第１のＹ軸噴出口Ｙ１と、第２のＹ軸噴出口Ｙ２と、第１のＺ軸噴出口Ｚ１と、第２のＺ軸噴出口Ｚ２とを有する）を２セット設ければよい（図示せず）。言い換えれば、細胞Ｃを時計回りに回転させるための第１の回転部と、反時計回りに回転させるための第２の回転部とを１つの収容部１１０に設け、回転制御部１３０は、第１及び第２の回転部を個別に制御すればよい。 In order to rotate the cell C in both the clockwise and counterclockwise directions about each of the three axes more accurately and easily, the rotating unit 120 (pump P, X-axis rotating valve Vx, and Y-axis rotating) Valve Vy, Z-axis rotation valve Vz, first X-axis outlet X1, second X-axis outlet X2, first Y-axis outlet Y1, and second Y-axis outlet Two sets of Y2 (having the first Z-axis outlet Z1 and the second Z-axis outlet Z2) may be provided (not shown). In other words, the first rotation unit for rotating the cell C clockwise and the second rotation unit for rotating counterclockwise are provided in one storage unit 110, and the rotation control unit 130 What is necessary is just to control the 1st and 2nd rotation part separately.
　（４．培養液の噴出速度及び噴出量の算出方法）
　回転制御部１３０による培養液の噴出速度及び噴出量の算出方法について、具体例を挙げて説明する。 (4. Calculation method of ejection speed and ejection volume of culture solution)
A method for calculating the ejection speed and the ejection amount of the culture solution by the rotation control unit 130 will be described with a specific example.
　培養液の噴出速度及び噴出量の制御は、物理解析的には細胞の大きさと質量から求められる慣性モーメントに基づいて決定できる。細胞を球と近似し、細胞の半径をa、質量をMとすると細胞の慣性モーメントは数１のように求められる。 Control of the ejection speed and ejection volume of the culture solution can be determined based on the moment of inertia obtained from the size and mass of the cells in physical analysis. If the cell is approximated as a sphere, the radius of the cell is a, and the mass is M, the moment of inertia of the cell can be obtained as shown in Equation 1.
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000001
　この慣性モーメントを基準にして噴出する培養液の量と噴出速度を決める方法が考えられるが、実際には噴出液と培養液の摩擦、細胞と培養液との摩擦、細胞の質量の不均一性、のために、解析的な計算方法による最適な噴出液の制御は難しい。そこで、これを機械学習によって学習する方法を説明する。数１による解析的な噴出量と速度は、機械学習の学習データ作成時の噴出量の初期値として用いることができる。 Although it is possible to determine the amount of the culture solution to be ejected and the ejection speed based on this moment of inertia, in reality, the friction between the ejected fluid and the culture fluid, the friction between the cells and the culture fluid, and the non-uniformity of the cell mass Therefore, it is difficult to optimally control the ejected liquid by an analytical calculation method. Therefore, a method for learning this by machine learning will be described. The analytical ejection amount and velocity according to Equation 1 can be used as an initial value of the ejection amount when creating learning data for machine learning.
　噴出口からの噴出速度をd[m/s]、噴出口の断面積をe[m^2]、噴出時間をg[sec]として、その時に回転した角度をr[rad]とする。噴出口の断面積eはシャーレで固定となり、噴出速度dも装置の単純化のために固定値とすると、変数gとrを様々に変化した場合の組み合わせを実験によって取得し、目標回転角度rが与えられた場合の噴出時間gを推定するような回帰学習を行うことで、細胞の回転を制御するための噴出時間を決定することができる。この学習には例えば、下記で説明する線形回帰を用いることができる。基底関数として多項式基底を用いる場合は、基底関数は下記のように表現できる。 Suppose that the jet velocity from the jet port is d [m / s], the cross-sectional area of the jet port is e [m ^ 2], the jet time is g [sec], and the angle rotated at that time is r [rad]. Assuming that the cross-sectional area e of the spout is fixed in the petri dish and the spout velocity d is also a fixed value for simplification of the device, the combinations when the variables g and r are changed variously are obtained through experiments, and the target rotation angle r By performing regression learning that estimates the ejection time g when the value is given, the ejection time for controlling the rotation of the cells can be determined. For this learning, for example, linear regression described below can be used. When a polynomial basis is used as the basis function, the basis function can be expressed as follows.
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000002
　この基底関数を用いて、線形結合によって表現できる関数は下記となる。Mは用いる基底関数の数を表している。 The function that can be expressed by linear combination using this basis function is as follows. M represents the number of basis functions used.
Figure JPOXMLDOC01-appb-M000003
Figure JPOXMLDOC01-appb-M000003
　本例では、数３のxが目標回転角度rで、線形回帰によって得られる関数f(x)が線形回帰によって得られる噴出時間を表す。数３のｗを求める問題は、実験によって得られた噴出時間gとそれによって得られた回転角度rの複数（ここではN個）のデータのセット(gn, rn)を用いて、下記の式のE(w)を最小とするwを求める問題となる。 In this example, x in Equation 3 is the target rotation angle r, and the function f (x) obtained by linear regression represents the ejection time obtained by linear regression. The problem of obtaining w in Equation 3 is as follows using a plurality of (N in this case) data sets (g n , r n ) of the ejection time g obtained by the experiment and the rotation angle r obtained thereby. The problem is to find w that minimizes E (w) in
Figure JPOXMLDOC01-appb-M000004
Figure JPOXMLDOC01-appb-M000004
　実際に数４から線形回帰によって関数f(x)を得るためには、数４のλに適切な重み（0.1など）を、実験によって得られたN個の噴出時間gと回転角度rのデータのセット(gn, rn)を数４に代入し、wiの偏微分値を0とした連立方程式を求める。そこで得られたwiを数３に代入することで、目的の関数f(x)を得ることができる。 In order to actually obtain the function f (x) from the equation (4) by linear regression, an appropriate weight (such as 0.1) is applied to the λ of the equation (4), and the data of N ejection times g and rotation angles r obtained by experiments. Substituting the set (g n , r n ) into Equation 4 to obtain simultaneous equations with the partial differential value of w i being zero. The objective function f (x) can be obtained by substituting the obtained w i into Equation 3.
　この回帰計算には線形回帰の他にも、サポートベクトル回帰やロジスティック回帰などの一般的な回帰学習手法を用いて実現することができる。 This regression calculation can be realized by using general regression learning methods such as support vector regression and logistic regression in addition to linear regression.
　さらに、この噴出時間の推定の学習には細胞の形状や大きさなどの情報を細胞の画像情報から得て、そのパラメータを学習に入れてもよい。培養液を当てる位置や角度も、画像認識や機械学習によって最適なものを認識処理によって決めてもよい。例えば、回転制御部１３０は、画像認識により細胞の形状や大きさを判断し、判断結果に基づき、培養液を噴出する角度や位置を変更すればよい。 Furthermore, in learning of the estimation of the ejection time, information such as the shape and size of the cells may be obtained from the image information of the cells, and the parameters may be put into learning. The position and angle to which the culture solution is applied may also be determined by recognition processing using an optimal one by image recognition or machine learning. For example, the rotation control unit 130 may determine the shape and size of the cell by image recognition, and change the angle and position at which the culture solution is ejected based on the determination result.
　（５．細胞評価装置の動作）
　図４は、細胞評価装置の動作を示すフローチャートである。 (5. Operation of cell evaluation device)
FIG. 4 is a flowchart showing the operation of the cell evaluation apparatus.
　前提として、収容部１１０に細胞Ｃ及び培養液が収容されている。撮像部１４０は、収容部１１０内の細胞Ｃを常時（定期的に）撮像して細胞Ｃの画像を取得している。撮像部１４０は、細胞Ｃの少なくとも回転前の画像を回転制御部１３０に供給し、また、常時取得する細胞Ｃの画像を画像取得部１２に常時リアルタイムに供給する。画像取得部１２は、撮像部１４０から取得する細胞Ｃの画像を、常時リアルタイムに出力装置１４（表示装置）に出力する。これにより、出力装置１４（表示装置）に、時々刻々と、収容部１１０内の細胞Ｃの画像が常時リアルタイムに表示される。ユーザは、出力装置１４（表示装置）にリアルタイムに表示された細胞Ｃの画像を観察しつつ、細胞Ｃを別の方向から見たいと考えると、入力装置１１を操作して、細胞Ｃを回転させるための回転方向（３軸の成分を含む方向）及び回転量を入力する。 As a premise, the cells C and the culture solution are stored in the storage unit 110. The imaging unit 140 acquires an image of the cell C by constantly (periodically) imaging the cell C in the storage unit 110. The imaging unit 140 supplies at least the pre-rotation image of the cell C to the rotation control unit 130, and always supplies the image acquisition unit 12 with the image of the cell C that is always acquired in real time. The image acquisition unit 12 always outputs the image of the cell C acquired from the imaging unit 140 to the output device 14 (display device) in real time. Thereby, the image of the cell C in the storage unit 110 is always displayed in real time on the output device 14 (display device). When the user wishes to view the cell C from another direction while observing the image of the cell C displayed in real time on the output device 14 (display device), the user operates the input device 11 to rotate the cell C. The rotation direction (direction including the three-axis components) and the rotation amount are input.
　回転制御部１３０は、入力装置１１から入力される回転方向（３軸の成分を含む方向）及び回転量を検出する（ステップＳ１１）。回転制御部１３０は、入力装置１１から入力された回転方向及び回転量が達成されるように、上記の計算方法に従って、３軸方向それぞれの培養液の噴出速度及び噴出量を算出する（ステップＳ１２）。回転制御部１３０は、算出した３軸方向それぞれの培養液の噴出速度及び噴出量が達成されるように、回転部１２０のＸ軸回転用バルブＶｘと、Ｙ軸回転用バルブＶｙと、Ｚ軸回転用バルブＶｚとを個別に開閉制御する。これにより、第１のＸ軸噴出口Ｘ１及び第２のＸ軸噴出口Ｘ２と、第１のＹ軸噴出口Ｙ１及び第２のＹ軸噴出口Ｙ２と、第１のＺ軸噴出口Ｚ１及び第２のＺ軸噴出口Ｚ２とが、それぞれ個別の噴出速度及び噴出量で、収容部１１０内の細胞Ｃに向けて培養液を噴出する。これにより、入力装置１１から入力された回転方向及び回転量に基づき、収容部１１０内の細胞Ｃが回転する（ステップＳ１３）。撮像部１４０は、常時（定期的に）撮像して取得している細胞Ｃの画像のうち、細胞Ｃの少なくとも回転後の画像を回転制御部１３０に供給する。 The rotation control unit 130 detects a rotation direction (a direction including three-axis components) and a rotation amount input from the input device 11 (step S11). The rotation control unit 130 calculates the ejection speed and the ejection amount of the culture solution in each of the three axial directions according to the above calculation method so that the rotation direction and the rotation amount input from the input device 11 are achieved (step S12). ). The rotation control unit 130 controls the X-axis rotation valve Vx, the Y-axis rotation valve Vy, and the Z-axis of the rotation unit 120 so that the calculated culture solution ejection speed and ejection amount in each of the three axis directions are achieved. Opening and closing of the rotation valve Vz is individually controlled. As a result, the first X-axis jet port X1, the second X-axis jet port X2, the first Y-axis jet port Y1, the second Y-axis jet port Y2, the first Z-axis jet port Z1, and The second Z-axis ejection port Z2 ejects the culture solution toward the cells C in the storage unit 110 at individual ejection speeds and ejection amounts. Thereby, based on the rotation direction and rotation amount input from the input device 11, the cell C in the storage unit 110 rotates (step S13). The imaging unit 140 supplies at least the rotated image of the cell C to the rotation control unit 130 among the images of the cell C that are always captured (regularly).
　回転制御部１３０は、撮像部１４０から取得した細胞Ｃの回転前の画像と、細胞Ｃの回転後の画像とを比較して、実際の細胞Ｃの回転方向及び回転量を算出する。具体的には、回転制御部１３０は、細胞Ｃの回転前の画像に含まれる特徴点と、細胞Ｃの回転後の画像に含まれる特徴点とを抽出する（各特徴点は、細胞Ｃの同一箇所である）。回転制御部１３０は、細胞Ｃの回転前の画像に含まれる特徴点と、細胞Ｃの回転後の画像に含まれる特徴点とを比較し、特徴点の回転方向及び回転量を算出する。回転制御部１３０は、算出した特徴点の回転方向及び回転量を、実際の細胞Ｃの回転方向及び回転量として判断する。回転制御部１３０は、細胞Ｃの回転前後の画像に基づき算出した回転方向及び回転量と、入力装置１１から入力された回転方向及び回転量とを比較する（ステップＳ１４）。 The rotation control unit 130 compares the image before rotation of the cell C acquired from the imaging unit 140 with the image after rotation of the cell C, and calculates the actual rotation direction and rotation amount of the cell C. Specifically, the rotation control unit 130 extracts feature points included in the image before the rotation of the cell C and feature points included in the image after the rotation of the cell C (each feature point is the cell C The same part). The rotation control unit 130 compares the feature point included in the image before the rotation of the cell C with the feature point included in the image after the rotation of the cell C, and calculates the rotation direction and the rotation amount of the feature point. The rotation control unit 130 determines the calculated rotation direction and rotation amount of the feature point as the actual rotation direction and rotation amount of the cell C. The rotation control unit 130 compares the rotation direction and rotation amount calculated based on the images before and after the rotation of the cell C with the rotation direction and rotation amount input from the input device 11 (step S14).
　細胞Ｃの回転前後の画像に基づき算出した回転方向及び回転量と、入力装置１１から入力された回転方向及び回転量とが一致していない場合、回転制御部１３０は、入力された回転方向及び回転量が達成されていないと判断する（ステップＳ１４、ＮＯ）。従って、回転制御部１３０は、入力装置１１から入力された回転方向及び回転量が達成されるように、再び、３軸方向それぞれの培養液の噴出速度及び噴出量を算出する（ステップＳ１２）。具体的には、回転制御部１３０は、回転前の細胞Ｃを、入力装置１１から入力された回転方向及び回転量で回転したと仮定したときに、細胞Ｃの回転前の画像に含まれる特徴点が、画像中のどの位置に移動するかを算出する。この予測される特徴点の位置を「特徴点予測位置」と称する。回転制御部１３０は、細胞Ｃの回転後の画像に含まれる特徴点の位置と、特徴点予測位置とを比較し、細胞Ｃの回転後の画像に含まれる特徴点が特徴点予測位置まで移動するのに必要な回転方向及び回転量を算出する。回転制御部１３０は、算出した回転方向及び回転量が達成されるように、上記の計算方法に従って、３軸方向それぞれの培養液の噴出速度及び噴出量を算出する。回転制御部１３０が、入力された回転方向及び回転量が達成されたと判断するまで（ステップＳ１４、ＹＥＳ）、ステップＳ１２～Ｓ１４が繰り返される。 When the rotation direction and the rotation amount calculated based on the images before and after the rotation of the cell C do not match the rotation direction and the rotation amount input from the input device 11, the rotation control unit 130 It is determined that the rotation amount has not been achieved (step S14, NO). Therefore, the rotation control unit 130 again calculates the ejection speed and the ejection amount of the culture solution in each of the three axial directions so that the rotation direction and the rotation amount input from the input device 11 are achieved (step S12). Specifically, when it is assumed that the rotation control unit 130 has rotated the cell C before rotation in the rotation direction and rotation amount input from the input device 11, the feature included in the image before rotation of the cell C. It is calculated to which position in the image the point moves. The predicted position of the feature point is referred to as “feature point predicted position”. The rotation control unit 130 compares the position of the feature point included in the image after the rotation of the cell C and the feature point predicted position, and the feature point included in the image after the rotation of the cell C moves to the feature point predicted position. The rotation direction and the amount of rotation necessary for the calculation are calculated. The rotation control unit 130 calculates the ejection speed and the ejection amount of the culture solution in each of the three axial directions according to the above calculation method so that the calculated rotation direction and rotation amount are achieved. Steps S12 to S14 are repeated until the rotation control unit 130 determines that the input rotation direction and rotation amount have been achieved (step S14, YES).
　回転制御部１３０は、入力された回転方向及び回転量が達成されたと判断すると（ステップＳ１４、ＹＥＳ）、その旨を画像取得部１２に通知する。画像取得部１２は、通知を受けると、撮像部１４０から常時リアルタイムに取得する細胞Ｃの画像を、評価部１３にリアルタイムに供給する（ステップＳ１５）。評価部１３は、取得する細胞Ｃの画像を、画像処理により認識し、既存のデータベースを参照して細胞Ｃの質を評価する（ステップＳ１６）。評価方法の具体例は後述する。評価部１３は、評価結果を、所定の出力方法（画像の表示、音声の出力）を用いて、出力装置１４に出力させる（ステップＳ１７）。出力方法の具体例は後述する。これにより、ユーザーは、出力装置１４が出力した細胞Ｃの質の評価結果を認識する。 When the rotation control unit 130 determines that the input rotation direction and rotation amount have been achieved (step S14, YES), the rotation control unit 130 notifies the image acquisition unit 12 to that effect. Upon receiving the notification, the image acquisition unit 12 supplies the evaluation unit 13 with the image of the cell C that is always acquired from the imaging unit 140 in real time (step S15). The evaluation unit 13 recognizes the acquired image of the cell C by image processing, and evaluates the quality of the cell C with reference to an existing database (step S16). Specific examples of the evaluation method will be described later. The evaluation unit 13 causes the output device 14 to output the evaluation result using a predetermined output method (image display, audio output) (step S17). A specific example of the output method will be described later. Thus, the user recognizes the evaluation result of the quality of the cell C output from the output device 14.
　（６．細胞の評価方法）
　評価部１３が細胞Ｃの回転後の画像を画像処理により認識して細胞Ｃの質を評価する（ステップＳ１６）方法の具体例を説明する。一例として、細胞Ｃが受精卵（胚）とする。初期分割胚の評価に一般的に用いられる指標に基づき、細胞Ｃを以下の５段階のグレード（グレード１が最高、グレード５が最低）に評価することができる。評価部１３は、例えば、エッジ検出の技術を利用して画像に含まれる割球の形態やフラグメンテーションを認識し、認識した画像をもとに、細胞Ｃを５段階のグレードに評価する。 (6. Cell evaluation method)
A specific example of a method in which the evaluation unit 13 recognizes the image after the rotation of the cell C by image processing and evaluates the quality of the cell C (step S16) will be described. As an example, cell C is a fertilized egg (embryo). Cell C can be evaluated in the following five grades (grade 1 is the highest and grade 5 is the lowest) based on an index generally used for the evaluation of the initial divided embryo. For example, the evaluation unit 13 recognizes the shape and fragmentation of the blastomere included in the image using an edge detection technique, and evaluates the cell C to five grades based on the recognized image.
　グレード１：割球が均等で、フラグメンテーションを認めない。
　グレード２：割球がやや不均等で、わずかにフラグメンテーションを認める。
　グレード３：割球が不均等。
　グレード４：割球が均等又は不均等で、かなりのフラグメンテーションを認める。
　グレード５：割球が不明瞭で、フラグメンテーションが著しい。 Grade 1: The blast ball is uniform and fragmentation is not allowed.
Grade 2: The blast ball is slightly uneven and slightly fragmented.
Grade 3: The blast ball is uneven.
Grade 4: The blast ball is uniform or uneven, and considerable fragmentation is observed.
Grade 5: The blast ball is unclear and fragmentation is significant.
　あるいは、一例として、細胞Ｃが和牛の受精卵（胚）の場合、和牛の肉質評価に一般的に用いられる指標を用いて細胞Ｃを評価してもよい。言い換えれば、細胞Ｃ（和牛の受精卵（胚））の将来的な肉質を予測し、歩留等級（３段階：最高Ａ～最低Ｃ）及び肉質等級（５段階：最高５～最低１）を指標として細胞Ｃを評価してもよい。 Alternatively, for example, when the cell C is a fertilized egg (embryo) of Japanese beef, the cell C may be evaluated using an index generally used for meat quality evaluation of Japanese beef. In other words, predict the future meat quality of cells C (Japanese cattle fertilized eggs (embryo)), and determine the yield grade (3 levels: highest A to lowest C) and meat quality grade (5 levels: highest 5 to lowest 1). Cell C may be evaluated as an index.
　（７．細胞の評価結果の出力方法）
　細胞Ｃの質の評価結果を出力（ステップＳ１７）する方法の各具体例を説明する。 (7. Output method of cell evaluation results)
Specific examples of the method for outputting the evaluation result of the quality of the cell C (step S17) will be described.
　図５は、細胞の質の評価結果を出力する方法の一具体例を説明するための図である。
　評価部１３は、画像処理により、細胞Ｃの画像から、表面の凹凸が少ない部位や、細胞分裂後の体積が均一な部位を抽出する。既存のデータベースには、表面の凹凸が少ない部位に対して評価結果Ａ３、細胞分裂後の体積が均一な部位に対して評価結果Ａ５等が登録されている。評価部１３は、データベースから、画像処理により抽出した各部位の特徴にそれぞれ対応付けられた評価結果を読み出す。評価部１３は、画像処理により抽出した各部位の位置情報と、読み出した評価結果とをもとに、細胞Ｃの画像に評価結果等を示す情報を合成して合成画像を生成する。評価部１３は、生成した合成画像を出力装置１４（表示装置）に表示させる。図５に示す合成画像の一例では、細胞Ｃの画像に、各部位の評価結果（Ａ３、Ａ５）及び評価の理由（本例では、文章）と、細胞Ｃ全体としての評価結果（Ａ４）とが合成される。 FIG. 5 is a diagram for explaining a specific example of a method for outputting a cell quality evaluation result.
The evaluation unit 13 extracts, from the image of the cell C, a part with less surface unevenness or a part with a uniform volume after cell division by image processing. In the existing database, the evaluation result A3 is registered for a portion with less surface irregularities, and the evaluation result A5 is registered for a portion having a uniform volume after cell division. The evaluation unit 13 reads out the evaluation results associated with the features of each part extracted by image processing from the database. The evaluation unit 13 generates a composite image by combining information indicating the evaluation result and the like with the image of the cell C based on the position information of each part extracted by the image processing and the read evaluation result. The evaluation unit 13 displays the generated composite image on the output device 14 (display device). In the example of the composite image shown in FIG. 5, the evaluation result (A3, A5) of each part, the reason for evaluation (in this example, text), and the evaluation result (A4) of the entire cell C Is synthesized.
　図６は、細胞の質の評価結果を出力する方法の別の具体例を説明するための図である。
　評価部１３は、画像取得部１２から常時リアルタイムに取得する細胞Ｃの画像を評価することで、細胞Ｃを時系列的に評価することができる。具体的には、評価部１３は、画像取得部１２から取得する細胞Ｃの一連の画像をエッジ検出等により認識し、画像の変化の大きい部位を、細胞分裂時に動的な変化の大きい部位として認識する。評価部１３は、画像取得部１２から取得する細胞Ｃの一連の画像に、この部位の位置情報を示す色（カラーでもモノクロでもよい）の濃淡などを合成して合成画像を生成する。評価部１３は、生成した合成画像を出力装置１４（表示装置）に表示させる。図６に示す合成画像の一例では、細胞Ｃの画像において、動的な変化の大きい部位を、変化度に応じた濃さの色としている。 FIG. 6 is a diagram for explaining another specific example of the method for outputting the evaluation result of the cell quality.
The evaluation unit 13 can evaluate the cells C in time series by evaluating the images of the cells C that are always acquired from the image acquisition unit 12 in real time. Specifically, the evaluation unit 13 recognizes a series of images of the cells C acquired from the image acquisition unit 12 by edge detection or the like, and designates a region having a large image change as a region having a large dynamic change during cell division. recognize. The evaluation unit 13 synthesizes a series of images of the cells C acquired from the image acquisition unit 12 with a shade of a color (color or monochrome) indicating the position information of the part to generate a composite image. The evaluation unit 13 displays the generated composite image on the output device 14 (display device). In the example of the synthesized image shown in FIG. 6, a part having a large dynamic change in the image of the cell C is set to a color having a darkness corresponding to the degree of change.
　受精卵（胚）の質の評価には、卵割後の割球の大きさのバランスやフラグメンテーションの量など、細胞分裂時の時系列的な分裂の様子が重要な基準の一つとなる。卵割の動的な変化に応じて仮想的に色の濃淡を付すことで、ユーザーが受精卵（胚）の質を視覚的に判断しやすくなる。また、受精卵（胚）の卵割等の動的な情報を、細胞の質の判定に用いることができる。なお、動的な変化の情報は２次元画像中の２次元情報だけでなく、ステレオカメラ等の３次元情報を取得できるセンサーによって得られた３次元的な動的な変化の情報を用いてもよく、これにより、詳細な情報を評価に反映することができる。また、動的な変化だけでなく内部細胞塊の密度などの情報を色の濃淡に反映して表示してもよい。 In order to evaluate the quality of fertilized eggs (embryos), time-series division during cell division, such as the balance of blastomere size after cleavage and the amount of fragmentation, is one of the important criteria. By virtually adding shades of color according to the dynamic change in cleavage, the user can easily determine the quality of the fertilized egg (embryo) visually. In addition, dynamic information such as cleavage of a fertilized egg (embryo) can be used for determination of cell quality. Note that the dynamic change information is not limited to the two-dimensional information in the two-dimensional image, but may be information on a three-dimensional dynamic change obtained by a sensor capable of acquiring three-dimensional information such as a stereo camera. This often allows detailed information to be reflected in the evaluation. Further, not only the dynamic change but also information such as the density of the inner cell mass may be reflected and displayed in the color shading.
　あるいは、受精卵（胚）の動的な変化を、色の濃淡だけでなく、音によって強調表現してもよい。評価部１３は、画像取得部１２から取得する細胞Ｃの一連の画像をエッジ検出等により認識し、動的な変化の大きい画像を発見すると、何らかの音を、スピーカーとしての出力装置１４に出力させてもよい。これにより、例えば、細胞分裂時のテクスチャの動的な変化の速度に応じて、音の高さや大きさや音色を対応付けることで、ユーザーは画像による視覚情報だけでなく、聴覚情報にも基づき、受精卵（胚）を評価することができる。 Alternatively, the dynamic change of a fertilized egg (embryo) may be expressed with emphasis by sound as well as color shading. When the evaluation unit 13 recognizes a series of images of the cell C acquired from the image acquisition unit 12 by edge detection or the like and finds an image with a large dynamic change, the evaluation unit 13 causes the output device 14 as a speaker to output some sound. May be. Thus, for example, by associating the pitch, loudness, and timbre of the sound according to the speed of the dynamic change of the texture at the time of cell division, the user can fertilize based not only on visual information based on images but also on auditory information. Eggs (embryos) can be evaluated.
　図７は、細胞の質の評価結果を出力する方法の別の具体例を説明するための図である。
　評価部１３は、エッジ検出等の画像認識により、細胞Ｃの画像（図７の画像ａ）から、評価に有用な特徴的な部位（例えば、細胞分裂後の細胞の境界面や、内部細胞塊）を検出する。評価部１３は、評価部１３は、細胞Ｃの画像を、ユーザーが視覚的に判別しやすい向きになるように回転する（図７の画像ｂ）。時々刻々と表示される細胞Ｃの一連の画像は、細胞分裂の過程により細胞Ｃの向きが自然に変化する可能性があるが、画像認識により画像中の細胞Ｃを一定の向きに揃えることで、ユーザーが視覚的に細胞Ｃを鑑別しやすくなる。 FIG. 7 is a diagram for explaining another specific example of the method for outputting the evaluation result of the cell quality.
The evaluation unit 13 recognizes a characteristic part useful for evaluation (for example, a boundary surface of cells after cell division, an inner cell mass, or the like from an image of the cell C (image a in FIG. 7) by image recognition such as edge detection. ) Is detected. The evaluation unit 13 rotates the image of the cell C so that the user can easily visually recognize the image (image b in FIG. 7). A series of images of the cells C displayed from time to time may naturally change the direction of the cells C due to the process of cell division, but by aligning the cells C in the images in a certain direction by image recognition. This makes it easier for the user to visually distinguish the cells C.
　図８は、細胞の質の評価結果を出力する方法の別の具体例を説明するための図である。
　図７の例では細胞Ｃの画像を２次元に回転させてユーザーが視覚的に判別しやすい向きとした。これに対して、収容部１１０内の細胞Ｃそのものを３次元に回転させ、回転させた細胞Ｃの画像を表示することで、結果的に、ユーザーが視覚的に判別しやすい向きの細胞Ｃの画像を表示してもよい。 FIG. 8 is a diagram for explaining another specific example of the method for outputting the evaluation result of the cell quality.
In the example of FIG. 7, the image of the cell C is rotated two-dimensionally so that the user can easily visually discriminate. On the other hand, by rotating the cell C itself in the storage unit 110 in a three-dimensional manner and displaying an image of the rotated cell C, as a result, the cell C in a direction that is easy for the user to visually distinguish is displayed. An image may be displayed.
　一例として、評価部１３は、エッジ検出等の画像認識により、画像（図８の画像ａ）中の２細胞期胚（細胞Ｃ）の２つの細胞が互いに重なり合っていると判断する。２つの細胞が互いに重なり合わず隣り合う方が、ユーザーが２つの細胞を観察しやすいと考えられる。評価部１３は、画像中の細胞Ｃ（２つの細胞が互いに重なり合っている）を、２つの細胞が隣り合うようにするための回転方向及び回転量を、画像に基づき算出する。評価部１３は、算出した回転方向及び回転量を回転制御部１３０に通知する。回転制御部１３０は、通知された回転方向及び回転量が達成されるように、３軸方向それぞれの培養液の噴出速度及び噴出量を算出する（ステップＳ１２と同様）。回転部１２０は細胞Ｃを回転させ（ステップＳ１３と同様）、細胞Ｃが目標の姿勢となると（ステップＳ１４のＹＥＳと同様）、評価部１３は、細胞Ｃの画像（図８の画像ｂ）を出力装置１４に出力する（ステップＳ１７）。 As an example, the evaluation unit 13 determines that two cells of the 2-cell stage embryo (cell C) in the image (image a in FIG. 8) overlap each other by image recognition such as edge detection. It is considered that it is easier for the user to observe the two cells if the two cells are adjacent to each other without overlapping each other. The evaluation unit 13 calculates, based on the image, the rotation direction and the rotation amount for causing the cell C in the image (two cells overlap each other) to be adjacent to each other. The evaluation unit 13 notifies the rotation control unit 130 of the calculated rotation direction and rotation amount. The rotation control unit 130 calculates the ejection speed and the ejection amount of the culture solution in each of the three axial directions so that the notified rotation direction and rotation amount are achieved (similar to step S12). The rotation unit 120 rotates the cell C (similar to step S13), and when the cell C assumes a target posture (same as YES in step S14), the evaluation unit 13 displays an image of the cell C (image b in FIG. 8). It outputs to the output device 14 (step S17).
　（８．まとめ）
　細胞を回転させて観察するには、例えば、２次元画像を２次元的に回転する方法が考えられる。しかし、この方法では、細胞を３次元的な複数の向きから観察することはできない。このため、精度の高い観察や評価を行うことは困難である。一方、立体的な（３次元的な）形状を有する細胞を、３次元的な複数の向きから観察するには、例えば、以下のような各方法が考えられる。一例として、ピペット等を用いて手作業で培養液に流れを作り、培養液内の細胞を回転させながら顕微鏡で観察する方法が考えられる。しかし、適切な向きに正確に細胞を回転させることは困難である。別の例として、細胞を回転させずに、細胞に対する光学的距離を変化させながら２つの撮像装置で細胞の画像（ステレオ画像）を取得し、その画像を合成することで３次元的な画像を生成する方法が考えられる。しかし、細胞は完全な透明でないため、撮影する方向以外から鮮明な画像を生成することは困難である。 (8. Summary)
In order to observe cells by rotating them, for example, a method of rotating a two-dimensional image two-dimensionally can be considered. However, with this method, the cells cannot be observed from a plurality of three-dimensional directions. For this reason, it is difficult to perform observation and evaluation with high accuracy. On the other hand, in order to observe cells having a three-dimensional (three-dimensional) shape from a plurality of three-dimensional directions, for example, the following methods are conceivable. As an example, a method may be considered in which a flow is manually created in a culture solution using a pipette or the like, and the cells in the culture solution are observed with a microscope while rotating. However, it is difficult to accurately rotate cells in the appropriate orientation. As another example, a cell image (stereo image) is acquired with two imaging devices while changing the optical distance to the cell without rotating the cell, and the three-dimensional image is synthesized by synthesizing the image. A generation method is conceivable. However, since the cells are not completely transparent, it is difficult to generate a clear image from a direction other than the shooting direction.
　これに対して、本実施形態によれば、回転制御部１３０は、入力装置１１から入力された（ステップＳ１１）回転方向及び回転量が達成されるように（ステップＳ１２）、回転部１２０を制御する（ステップＳ１３）。そして、回転制御部１３０は、細胞Ｃの回転前後の画像に基づき算出した実際の回転方向及び回転量と、入力装置１１から入力された回転方向及び回転量とを比較し（ステップＳ１４）、入力された回転方向及び回転量が達成されるまで（ステップＳ１４、ＹＥＳ）、回転部１２０を繰り返し制御する。 On the other hand, according to the present embodiment, the rotation control unit 130 controls the rotation unit 120 so that the rotation direction and the rotation amount input from the input device 11 (step S11) are achieved (step S12). (Step S13). Then, the rotation control unit 130 compares the actual rotation direction and the rotation amount calculated based on the images before and after the rotation of the cell C with the rotation direction and the rotation amount input from the input device 11 (Step S14). The rotating unit 120 is repeatedly controlled until the rotation direction and the rotation amount are achieved (step S14, YES).
　これにより、細胞を回転させて、立体的な（３次元的な）形状を有する細胞を、３次元的な複数の向きから観察することができる。また、回転前後の画像に基づき算出した実際の回転方向及び回転量をフィードバックし、入力された回転方向及び回転量が達成されるまで、回転部１２０を繰り返し制御することから、入力装置１１から入力された（すなわち、ユーザが目標とする）回転方向及び回転量だけ細胞の回転を達成する確実性を高めることができる。また、入力装置１１としてトラックボールを用いる場合、他の装置に比べて、ユーザにとっては直感的に３軸方向の回転方向及び回転量を入力することができる上、ユーザにとってはあたかも細胞を掴んで回転させているような、直感的な観察が可能となる。 Thereby, the cells can be observed from a plurality of three-dimensional orientations by rotating the cells and having a three-dimensional (three-dimensional) shape. Further, the actual rotation direction and rotation amount calculated based on the images before and after the rotation are fed back, and the rotation unit 120 is repeatedly controlled until the input rotation direction and rotation amount are achieved. It is possible to increase the certainty that the rotation of the cell is achieved by the rotation direction and the rotation amount (that is, the target of the user). When a trackball is used as the input device 11, the user can intuitively input the rotation direction and amount of rotation in three axes compared to other devices, and the user can grasp the cell as if it were Intuitive observation, such as rotating, becomes possible.
　また、画像認識を用いて細胞の質を評価する方法としては、例えば、画像処理により細胞の外周の長さ値や細胞の面積値等を得る方法が考えられる。しかし、これらの値そのものが細胞の質の評価値であるわけではなく、これらの値をもとに人間の判断で質を評価する必要がある。人間の判断で質を評価する場合、評価にバラツキが発生することは避けられない。別の方法として、例えば、細胞全体の質の評価値を得る方法も考えられる。しかし、細胞全体の質の評価値が得られても、評価値の根拠理由がユーザーにとってわかりにくいおそれがある。 Also, as a method for evaluating cell quality using image recognition, for example, a method of obtaining a length value of the outer periphery of a cell, a cell area value, or the like by image processing is conceivable. However, these values themselves are not evaluation values of cell quality, and it is necessary to evaluate quality based on these values by human judgment. When evaluating quality based on human judgment, it is inevitable that variations occur in the evaluation. As another method, for example, a method of obtaining an evaluation value of the quality of the whole cell is also conceivable. However, even if an evaluation value of the quality of the whole cell is obtained, the reason for the evaluation value may be difficult for the user to understand.
　これに対して、本実施形態によれば、評価部１３は、画像処理により、細胞Ｃの画像から、細胞の表面形状や体積が特徴的な部位を画像処理により抽出し、画像処理により抽出した各部位の特徴にそれぞれ対応付けられた評価結果をデータベースから読み出す。評価部１３は、画像処理により抽出した各部位の位置情報と、読み出した評価結果とをもとに、細胞の画像に評価結果等を示す情報を合成して合成画像を生成する（図５、図６）。 On the other hand, according to the present embodiment, the evaluation unit 13 extracts a part having a characteristic surface shape or volume of the cell from the image of the cell C by image processing, and extracts by image processing. The evaluation results associated with the features of each part are read from the database. Based on the position information of each part extracted by image processing and the read evaluation result, the evaluation unit 13 combines information indicating the evaluation result and the like with the cell image to generate a composite image (FIG. 5). FIG. 6).
　このように、画像処理に基づき細胞の質を評価することで、人間の主観を排除した客観的な評価をユーザに提示することができる。また、細胞の画像を評価しやすい向きに回転することで（図７、図８）、ユーザが視覚的により観察しやすくなる。 Thus, by evaluating cell quality based on image processing, an objective evaluation that excludes human subjectivity can be presented to the user. Further, by rotating the cell image in a direction in which it is easy to evaluate (FIGS. 7 and 8), it becomes easier for the user to visually observe.
　（９．変形例）
　本実施形態によれば、各噴出口Ｘ１、Ｘ２、Ｙ１、Ｙ２、Ｚ１、Ｚ２（出力口）から、収容部１１０内の培養液に流体（培養液）を注入することで、収容部１１０内の培養液に流れを発生させた。これに替えて、各噴出口から例えば超音波を発生させることにより収容部１１０内の培養液に振動を発生させることで、収容部１１０内の培養液に流れを発生させてもよい。 (9. Modifications)
According to the present embodiment, by injecting a fluid (culture solution) into the culture solution in the storage unit 110 from each of the ejection ports X1, X2, Y1, Y2, Z1, Z2 (output port), the inside of the storage unit 110 A flow was generated in the culture medium. Alternatively, a flow may be generated in the culture solution in the storage unit 110 by generating vibrations in the culture solution in the storage unit 110 by, for example, generating ultrasonic waves from each jet port.
　本実施形態では、評価部１３は、細胞の画像を画像処理により認識し、既存のデータベースを参照して細胞の質を評価し（ステップＳ１６）、評価結果を出力装置１４に出力させた（ステップＳ１７）。この評価の各ステップを無くし、入力された回転方向及び回転量が達成された細胞の画像を、出力装置１４に出力させるだけでもよい。 In the present embodiment, the evaluation unit 13 recognizes an image of a cell by image processing, evaluates the quality of the cell with reference to an existing database (Step S16), and causes the output device 14 to output the evaluation result (Step S16). S17). Each step of this evaluation may be eliminated, and the output device 14 may simply output the cell image in which the input rotation direction and rotation amount are achieved.
　（ＩＩ．第２の実施形態）
　（１．第２の実施形態の概要）
　第１の実施形態では、入力装置１１から入力された回転方向及び回転量に基づき、リアルタイムに細胞を回転させて、回転する細胞の画像をリアルタイムに出力装置１４に出力し、細胞をリアルタイムに評価した。これに対して、第２の実施形態では、入力装置から入力された回転方向及び回転量に基づき回転させた細胞の画像を蓄積し、３次元画像を実現するためのデータベースを構築しておく。その後、入力装置から入力された回転方向及び回転量に対応する細胞の画像をデータベースから読み出し、細胞を評価する。これにより、過去に撮りためた細胞の画像を、３次元的に観察することが可能となる。 (II. Second Embodiment)
(1. Overview of Second Embodiment)
In the first embodiment, based on the rotation direction and the rotation amount input from the input device 11, the cells are rotated in real time, and an image of the rotating cells is output to the output device 14 in real time, and the cells are evaluated in real time. did. On the other hand, in the second embodiment, an image of cells rotated based on the rotation direction and the rotation amount input from the input device is accumulated, and a database for realizing a three-dimensional image is constructed. Thereafter, an image of the cell corresponding to the rotation direction and the rotation amount input from the input device is read from the database, and the cell is evaluated. Thereby, it becomes possible to observe the image of the cell taken in the past three-dimensionally.
　以下の説明において、第１の実施形態で既に説明したハードウェア構成、各機能部、各動作ステップと同様のものは、同様の参照符号を付して説明を省略し、異なる点を中心に説明する。 In the following description, the hardware configuration, the functional units, and the operation steps that have already been described in the first embodiment are denoted by the same reference numerals, the description thereof is omitted, and different points are mainly described. To do.
　（２．細胞評価装置の構成）
　図９は、第２の実施形態に係る細胞評価装置（情報処理装置）の構成を示すブロック図である。 (2. Configuration of cell evaluation apparatus)
FIG. 9 is a block diagram illustrating a configuration of a cell evaluation device (information processing device) according to the second embodiment.
　細胞評価装置１Ａは、細胞回転装置１０Ａ（装置）と、入力装置１１Ａと、画像データベース（ＤＢ）作成部１５と、画像データベース（ＤＢ）１６と、画像取得部１２Ａと、評価部１３Ａと、出力装置１４Ａとを有する。 The cell evaluation device 1A includes a cell rotation device 10A (device), an input device 11A, an image database (DB) creation unit 15, an image database (DB) 16, an image acquisition unit 12A, an evaluation unit 13A, and an output. 14A.
　細胞評価装置１Ａの少なくとも画像取得部１２Ａと、評価部１３Ａと、細胞回転装置１０に含まれる回転制御部１３０Ａと、画像ＤＢ作成部１５とは、非一過性のコンピュータ読み取り可能な記録媒体の一例であるＲＯＭに記録されたプログラムをＲＡＭにロードしてＣＰＵが実行することにより実現される。画像ＤＢ１６は不揮発性の記録媒体に設定される。 At least the image acquisition unit 12A, the evaluation unit 13A, the rotation control unit 130A included in the cell rotation device 10, and the image DB creation unit 15 of the cell evaluation device 1A are non-transitory computer-readable recording media. This is realized by loading a program recorded in the ROM, which is an example, into the RAM and executing it by the CPU. The image DB 16 is set as a non-volatile recording medium.
　細胞回転装置１０Ａ及び入力装置１１Ａは、第１の実施形態の細胞回転装置１０及び入力装置１１と同様である。ただし、細胞回転装置１０Ａにおいて、回転制御部１３０Ａは、入力装置１１Ａから入力された回転方向及び回転量に基づき、細胞Ｃの３軸方向の位置情報を算出する。例えば、回転制御部１３０Ａは、撮像部１４０Ａから取得する細胞Ｃの回転前の画像に含まれる特徴点と、細胞Ｃの回転後の画像に含まれる特徴点とを抽出する（各特徴点は、細胞Ｃの同一箇所である）。回転制御部１３０Ａは、細胞Ｃの回転前の画像に含まれる特徴点と、細胞Ｃの回転後の画像に含まれる特徴点とを比較し、特徴点の回転方向及び回転量を算出する。回転制御部１３０Ａは、算出した特徴点の回転方向及び回転量に基づき、細胞Ｃの３軸方向の位置情報を算出する。回転制御部１３０Ａは算出した細胞Ｃの３軸方向の位置情報（回転情報）を、撮像部１４０Ａは細胞Ｃの画像を、同期して、画像ＤＢ作成部１５に供給する。回転制御部１３０Ａが算出する細胞Ｃの「３軸方向の位置情報」とは、回転前の細胞Ｃの姿勢を基準とした相対的な位置情報ではなく、絶対的な位置情報（座標情報等）を意味する。 The cell rotation device 10A and the input device 11A are the same as the cell rotation device 10 and the input device 11 of the first embodiment. However, in the cell rotation device 10A, the rotation control unit 130A calculates the position information of the cell C in the three-axis directions based on the rotation direction and the rotation amount input from the input device 11A. For example, the rotation control unit 130A extracts feature points included in the image before rotation of the cell C acquired from the imaging unit 140A and feature points included in the image after rotation of the cell C (each feature point is: It is the same location of cell C). The rotation control unit 130A compares the feature point included in the image before the rotation of the cell C and the feature point included in the image after the rotation of the cell C, and calculates the rotation direction and the rotation amount of the feature point. The rotation control unit 130A calculates the position information of the cell C in the three-axis directions based on the calculated rotation direction and rotation amount of the feature points. The rotation control unit 130A supplies the calculated position information (rotation information) of the cell C in the three-axis directions, and the imaging unit 140A supplies the image of the cell C to the image DB creation unit 15 in synchronization. The “position information in the three-axis direction” of the cell C calculated by the rotation control unit 130A is not relative position information based on the posture of the cell C before the rotation, but absolute position information (coordinate information or the like). Means.
　画像ＤＢ作成部１５は、回転制御部１３０Ａから、細胞Ｃの画像と、それに対応する細胞Ｃの３軸方向の位置情報とを、取得する。画像ＤＢ作成部１５は、取得する細胞Ｃの３軸方向の位置情報と、細胞Ｃの画像とを、蓄積することで、３次元画像を実現するための画像ＤＢ１６を構築しておく。 The image DB creation unit 15 acquires the image of the cell C and the corresponding position information of the cell C in the three-axis directions from the rotation control unit 130A. The image DB creation unit 15 constructs an image DB 16 for realizing a three-dimensional image by accumulating the position information of the cells C to be acquired in the three-axis directions and the image of the cell C.
　画像取得部１２Ａは、入力装置１１Ａ（回転制御部１３０Ａに回転方向及び回転量を入力する入力装置１１Ａとは異なる装置でもよい）から入力される３軸方向の回転方向及び回転量に対応する細胞Ｃの画像を、画像ＤＢ１６から読み出す。あるいは、画像取得部１２Ａは、入力装置１１Ａから入力される３軸方向の回転方向及び回転量に対応する細胞Ｃの画像が画像ＤＢ１６に蓄積されていない場合は、画像ＤＢ１６から複数の画像を読み出し、読み出した複数の画像を合成して、入力された回転方向及び回転量に対応する細胞Ｃの画像を生成する。 The image acquisition unit 12A is a cell corresponding to the rotation direction and the rotation amount in the triaxial direction input from the input device 11A (may be different from the input device 11A that inputs the rotation direction and the rotation amount to the rotation control unit 130A). The C image is read from the image DB 16. Alternatively, the image acquisition unit 12A reads a plurality of images from the image DB 16 when the image of the cell C corresponding to the rotation direction and the rotation amount in the three-axis directions input from the input device 11A is not accumulated in the image DB 16. Then, the plurality of read-out images are synthesized to generate an image of the cell C corresponding to the input rotation direction and rotation amount.
　評価部１３Ａは、画像取得部１２Ａが取得した細胞の画像に基づき、細胞を評価する。 The evaluation unit 13A evaluates cells based on the cell image acquired by the image acquisition unit 12A.
　表示装置としての出力装置１４Ａは、画像取得部１２Ａが取得する（読み出す又は合成する）細胞Ｃの画像をリアルタイムに表示する。出力装置１４Ａは、また、評価部１３Ａによる細胞Ｃの評価の結果を、画像や音声等により出力する。 The output device 14A as a display device displays an image of the cell C acquired (read or synthesized) by the image acquisition unit 12A in real time. The output device 14A also outputs the result of the evaluation of the cell C by the evaluation unit 13A as an image or sound.
　（３．細胞評価装置の動作）
　図１０は、細胞評価装置の動作を示すフローチャートである。 (3. Operation of cell evaluation device)
FIG. 10 is a flowchart showing the operation of the cell evaluation apparatus.
　画像ＤＢ作成部１５が、回転制御部１３０Ａから取得する細胞Ｃの画像及び細胞Ｃの３軸方向の位置情報を蓄積することで、３次元画像を実現するための画像ＤＢ１６を構築した後の動作を説明する。 Operation after the image DB creation unit 15 constructs the image DB 16 for realizing a three-dimensional image by accumulating the image of the cell C acquired from the rotation control unit 130A and the position information of the cell C in the three-axis directions. Will be explained.
　前提として、画像取得部１２Ａは、例えば入力装置１１Ａからの何らかの入力をトリガとして、画像ＤＢ１６から細胞Ｃの画像を取得し、取得した画像を出力装置１４Ａ（表示装置）に出力する。出力装置１４Ａ（表示装置）に、細胞Ｃの画像が表示される。ユーザは、出力装置１４Ａ（表示装置）に表示された細胞Ｃの画像を観察しつつ、細胞Ｃを別の方向から見たいと考えると、入力装置１１Ａを操作して、細胞Ｃを回転させるための回転方向（３軸の成分を含む方向）及び回転量を入力する。 As a premise, the image acquisition unit 12A acquires an image of the cell C from the image DB 16 using, for example, some input from the input device 11A as a trigger, and outputs the acquired image to the output device 14A (display device). An image of the cell C is displayed on the output device 14A (display device). When the user wants to view the cell C from another direction while observing the image of the cell C displayed on the output device 14A (display device), the user operates the input device 11A to rotate the cell C. The rotation direction (including the three-axis component) and the rotation amount are input.
　画像取得部１２Ａは、入力装置１１Ａから入力される回転方向（３軸の成分を含む方向）及び回転量を検出する（ステップＳ２１）。画像取得部１２Ａは、入力装置１１Ａから入力された回転方向及び回転量に対応する細胞Ｃの画像を、画像ＤＢ１６から読み出す。あるいは、画像取得部１２Ａは、入力装置１１Ａから入力される３軸方向の回転方向及び回転量に対応する細胞Ｃの画像が画像ＤＢ１６に蓄積されていない場合は、画像ＤＢ１６から複数の画像を読み出し、読み出した複数の画像を合成して、入力された回転方向及び回転量に対応する細胞Ｃの画像を生成する（ステップＳ２２）。具体的には、画像取得部１２Ａは、出力装置１４Ａ（表示装置）に表示されている細胞Ｃの画像の３軸方向の位置情報を基準として、この細胞Ｃが入力装置１１Ａから入力された回転方向及び回転量だけ回転された場合の、３軸方向の位置情報を算出する。画像取得部１２Ａは、算出した３軸方向の位置情報に対応する細胞Ｃの画像が画像ＤＢ１６に記憶されているか判断する。記憶されていると判断すると、画像取得部１２Ａは、算出した３軸方向の位置情報に対応する細胞Ｃの画像を、画像ＤＢ１６から読みだす。記憶されていないと判断すると、画像取得部１２Ａは、算出した３軸方向の位置情報に比較的近い位置情報に対応する複数（少なくとも２つ）の細胞Ｃの画像を、画像ＤＢ１６から読みだす。画像取得部１２Ａは、読み出した複数の画像を合成して、算出した３軸方向の位置情報に対応する細胞Ｃの画像を生成する。 The image acquisition unit 12A detects the rotation direction (a direction including the three-axis components) and the rotation amount input from the input device 11A (step S21). The image acquisition unit 12A reads an image of the cell C corresponding to the rotation direction and the rotation amount input from the input device 11A from the image DB 16. Alternatively, the image acquisition unit 12A reads a plurality of images from the image DB 16 when the image of the cell C corresponding to the rotation direction and the rotation amount in the three-axis directions input from the input device 11A is not accumulated in the image DB 16. Then, the plurality of read images are combined to generate an image of the cell C corresponding to the input rotation direction and rotation amount (step S22). Specifically, the image acquisition unit 12A rotates the cell C input from the input device 11A with reference to position information in the triaxial direction of the image of the cell C displayed on the output device 14A (display device). The position information in the triaxial direction when the direction and the rotation amount are rotated is calculated. The image acquisition unit 12A determines whether an image of the cell C corresponding to the calculated position information in the three-axis directions is stored in the image DB 16. If it is determined that the image is stored, the image acquisition unit 12A reads an image of the cell C corresponding to the calculated position information in the three-axis direction from the image DB 16. If it is determined that the information is not stored, the image acquisition unit 12A reads from the image DB 16 a plurality (at least two) of cells C corresponding to position information that is relatively close to the calculated position information in the three-axis directions. The image acquisition unit 12A combines the plurality of read images to generate an image of the cell C corresponding to the calculated triaxial position information.
　画像取得部１２Ａは、入力装置１１Ａから入力された回転方向及び回転量に対応する細胞Ｃの画像を読み出す又は合成により生成すると、読み出した又は生成した細胞Ｃの画像を、評価部１３Ａに供給する（ステップＳ２３）。評価部１３Ａは、取得する細胞Ｃの画像を、画像処理により認識し、既存のデータベースを参照して細胞Ｃの質を評価する（ステップＳ２４）。評価部１３Ａは、評価結果を、所定の出力方法（画像の表示、音声の出力）を用いて、出力装置１４Ａに出力させる（ステップＳ２５）。これにより、ユーザーは、出力装置１４Ａが出力した細胞Ｃの質の評価結果を認識する。 When the image acquisition unit 12A reads or generates a cell C image corresponding to the rotation direction and rotation amount input from the input device 11A, the image acquisition unit 12A supplies the read or generated cell C image to the evaluation unit 13A. (Step S23). The evaluation unit 13A recognizes the acquired image of the cell C by image processing, and evaluates the quality of the cell C with reference to an existing database (step S24). The evaluation unit 13A causes the output device 14A to output the evaluation result using a predetermined output method (image display, audio output) (step S25). Thereby, the user recognizes the evaluation result of the quality of the cell C output from the output device 14A.
　（４．まとめ）
　本実施形態によれば、細胞回転装置１０Ａを用いて回転させた細胞の画像をデータベースに蓄積しておくことで、事後的に、細胞Ｃを３次元的に観察や評価することができる。例えば細胞が受精卵や胚の場合、細胞分裂が進む前の画像をデータベースに蓄積しておけば、過去の画像と、収容部１１０Ａ内の現在の細胞とを、同時に表示して同時に３次元的に比較し観察することも可能となる（それを実現するためには、図１と同様に、図９でも、画像取得部１２Ａが撮像部１４０Ａから画像を取得する。図示せず）。 (4. Summary)
According to the present embodiment, by accumulating images of cells rotated using the cell rotation device 10A in the database, the cells C can be observed and evaluated three-dimensionally after the fact. For example, when the cells are fertilized eggs or embryos, if the images before cell division progresses are stored in the database, the past images and the current cells in the storage unit 110A can be displayed at the same time and displayed three-dimensionally at the same time. (In order to realize this, the image acquisition unit 12A acquires an image from the imaging unit 140A in FIG. 9 as well as FIG. 1 (not shown)).
　また、本実施形態によれば、細胞回転装置１０Ａを用いて実際に回転させた細胞の画像をデータベースに蓄積する。これに対して、細胞を実際に回転させずに、細胞に対する光学的距離を変化させながら複数の撮像装置で細胞の画像（ステレオ画像）を取得し、その画像を合成することで３次元的な画像を生成し、データベースに蓄積するも考えられる。しかし、この方法では、複数の撮像装置が必要になるため設備が大掛かりとなりコストもかかる上、３次元的な画像は合成したものにすぎず、完全に正確な画像を生成できないおそれがある。これに対して、本実施形態によれば、細胞回転装置１０Ａを用いて実際に回転させた細胞の画像をデータベースに蓄積するので、３次元的な画像として正確な画像を蓄積することができる上、撮像装置も１つあればよいため、設備も簡略化できコストを抑えることができる。 Further, according to the present embodiment, images of cells actually rotated using the cell rotation device 10A are accumulated in the database. On the other hand, without actually rotating the cell, a three-dimensional image can be obtained by acquiring cell images (stereo images) with a plurality of imaging devices while changing the optical distance to the cell and synthesizing the images. It is also possible to generate images and store them in a database. However, this method requires a plurality of imaging devices, which requires a large amount of equipment and costs. In addition, a three-dimensional image is merely a synthesized image, and a completely accurate image may not be generated. On the other hand, according to the present embodiment, since the images of the cells actually rotated using the cell rotation device 10A are accumulated in the database, an accurate image can be accumulated as a three-dimensional image. Since only one imaging device is required, the equipment can be simplified and the cost can be reduced.
　（５．変形例）
　本実施形態によれば、細胞評価装置１Ａを単一の装置として説明したが、これに限定されない。例えば、ネットワークを介して又は介さずに情報を授受可能な第１の装置と、第２の装置とに分けてもよい（図示せず）。第１の装置は、細胞回転装置１０Ａと、第１の入力装置１１Ａと、画像ＤＢ作成部１５と、画像ＤＢ１６とを有する。第２の装置は、第２の入力装置１１Ａと、画像取得部１２Ａと、評価部１３Ａと、出力装置１４Ａとを有する。第１の装置は、細胞回転装置１０Ａが回転する細胞の画像を画像ＤＢ１６に蓄積しておく。そして、第２の装置は、第１の装置の画像ＤＢ１６に蓄積された細胞の画像を取得し、必要に応じて合成し、出力装置１４Ａに出力する。第２の装置は、汎用のパーソナルコンピュータを用いても実現可能である。 (5. Modifications)
According to this embodiment, although 1 A of cell evaluation apparatuses were demonstrated as a single apparatus, it is not limited to this. For example, it may be divided into a first device capable of exchanging information with or without a network and a second device (not shown). The first device includes a cell rotation device 10A, a first input device 11A, an image DB creation unit 15, and an image DB 16. The second device includes a second input device 11A, an image acquisition unit 12A, an evaluation unit 13A, and an output device 14A. The first device accumulates, in the image DB 16, images of cells rotated by the cell rotating device 10A. The second device acquires the cell images accumulated in the image DB 16 of the first device, synthesizes them as necessary, and outputs them to the output device 14A. The second device can also be realized using a general-purpose personal computer.
　あるいは、例えば、ネットワークを介して又は介さずに情報を授受可能な第１の装置と、第２の装置と、第３の装置とに分けてもよい（図示せず）。第１の装置は、細胞回転装置１０Ａと、第１の入力装置１１Ａと、画像ＤＢ作成部１５とを有する。第３の装置は、画像ＤＢ１６を有する。第２の装置は、第２の入力装置１１Ａと、画像取得部１２Ａと、評価部１３Ａと、出力装置１４Ａとを有する。第１の装置は、細胞回転装置１０Ａが回転する細胞の画像を、第３の装置の画像ＤＢ１６に蓄積しておく。そして、第２の装置は、第３の装置の画像ＤＢ１６に蓄積された細胞の画像を取得し、必要に応じて合成し、出力装置１４Ａに出力する。この場合も、第２の装置は、汎用のパーソナルコンピュータを用いても実現可能である。典型的には、第１の装置と、第２の装置と、第３の装置とは、ＬＡＮ（Local Area Network）又はインターネット等のネットワークに接続され、その場合、第３の装置は、所謂サーバー装置の役割をもつ。 Alternatively, for example, it may be divided into a first device, a second device, and a third device that can exchange information with or without a network (not shown). The first device includes a cell rotation device 10 </ b> A, a first input device 11 </ b> A, and an image DB creation unit 15. The third device has an image DB 16. The second device includes a second input device 11A, an image acquisition unit 12A, an evaluation unit 13A, and an output device 14A. The first device stores the images of the cells rotated by the cell rotation device 10A in the image DB 16 of the third device. The second device acquires the cell images accumulated in the image DB 16 of the third device, synthesizes them as necessary, and outputs them to the output device 14A. Also in this case, the second apparatus can be realized using a general-purpose personal computer. Typically, the first device, the second device, and the third device are connected to a network such as a LAN (Local Area Network) or the Internet. In this case, the third apparatus is a so-called server. Has the role of a device.
　（ＩＩＩ．その他）
　以上、本技術の各実施形態及び各変形例について説明したが、本技術は上述の実施形態にのみ限定されるものではなく、本技術の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。 (III. Others)
As mentioned above, although each embodiment and each modification of this art were explained, this art is not limited only to the above-mentioned embodiment, and it can add various changes within the range which does not deviate from the gist of this art. Of course.
　なお、本技術は以下のような構成もとることができる。
　（１）細胞及び液体を収容可能な収容部と、
　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と
　を具備する装置。
　（２）上記（１）に記載の装置であって、
　前記回転部は、前記細胞の表面の一部である第１の部位に接触する前記液体に第１の方向への流れを発生させて、１軸回りに前記細胞を回転させる第１の出力口を有する
　装置。
　（３）上記（２）に記載の装置であって、
　前記回転部は、さらに、前記細胞の前記表面の他の一部である第２の部位に接触する前記液体に、前記第１の方向と逆方向の成分を含む第２の方向への流れを発生させて、前記１軸回りに回転する前記細胞が前記第１の方向へ流れるのを妨げて前記１軸回りに前記細胞を回転させる第２の出力口を有する
　装置。
　（４）上記（１）乃至（３）のうちいずれか１つに記載の装置であって、
　　入力装置から入力される回転量を検出し、
　　前記入力された回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記細胞の回転量を制御する
　回転制御部
　をさらに具備する装置。
　（５）上記（３）又は（４）に記載の装置であって、
　前記回転部は、前記第１の出力口及び前記第２の出力口の組を、２組以上有し、
　前記各組は、直交する２軸の成分を含む軸回りに前記細胞を回転させることが可能なように配置される
　装置。
　（６）上記（３）乃至（５）のうちいずれか１つに記載の装置であって、
　前記回転部は、前記第１の出力口及び前記第２の出力口の組を、３組以上有し、
　前記各組は、直交する３軸の成分を含む軸回りに前記細胞を回転させることが可能なように配置される
　装置。
　（７）上記（４）乃至（６）のうちいずれか１つに記載の装置であって、
　前記回転制御部は、
　　前記入力装置から入力される回転方向及び回転量を検出し、
　　前記入力された回転方向及び回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記細胞の回転方向及び回転量を制御する
　装置。
　（８）上記（４）乃至（７）のうちいずれか１つに記載の装置であって、
　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部をさらに具備し、
　前記回転制御部は、
　　前記撮像部が撮像して得た前記細胞の回転前の画像と、前記細胞の回転後の画像とに基づき、前記細胞の実際の回転方向及び回転量を算出し、
　　前記細胞の画像に基づき算出した実際の回転方向及び回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記入力された回転方向及び回転量を達成する
　装置。
　（９）上記（２）乃至（８）のうちいずれか１つに記載の装置であって、
　前記各出力口は、前記収容部内の前記液体に流体を注入することで、前記収容部内の前記液体に流れを発生させる
　装置。
　（１０）上記（２）乃至（８）のうちいずれか１つに記載の装置であって、
　前記各出力口は、前記収容部内の前記液体に振動を発生させることで、前記収容部内の前記液体に流れを発生させる
　装置。
　（１１）入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得する画像取得部と、
　前記取得した細胞の画像に基づき、前記細胞を評価する評価部と
　を具備し、
　前記画像取得部は、
　　細胞及び液体を収容可能な収容部と、
　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
　　前記回転部を制御して、前記細胞の回転方向及び回転量を制御する回転制御部と、
　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する
　情報処理装置。
　（１２）上記（１１）に記載の情報処理装置であって、
　前記回転制御部は、
　　前記入力装置から入力される回転方向及び回転量を検出し、
　　前記入力された回転方向及び回転量に基づき、前記回転部を制御して、前記細胞の回転方向及び回転量を制御し、
　前記撮像部は、前記入力された回転方向及び回転量に基づき回転方向及び回転量が制御された前記細胞の画像を取得し、
　前記画像取得部は、前記撮像部から、前記細胞の画像を取得する
　情報処理装置。
　（１３）上記（１１）又は（１２）に記載の情報処理装置であって、
　前記画像取得部は、
　　前記入力装置から入力される回転方向及び回転量を検出し、
　　前記撮像部が取得した前記細胞の画像と前記細胞の回転方向及び回転量に関連する回転情報とを互いに関連付けて記憶する記憶装置から、前記入力された回転方向及び回転量に対応する細胞の画像を読み出し、又は
　　前記記憶装置から複数の画像を読み出し、前記読み出した複数の画像を合成して、前記入力された回転方向及び回転量に対応する細胞の画像を生成する
　情報処理装置。
　（１４）入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得する画像取得部と、
　前記取得した細胞の画像に基づき、前記細胞を評価する評価部
　として情報処理装置を機能させるプログラムであって、
　前記画像取得部は、
　　細胞及び液体を収容可能な収容部と、
　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する
　プログラム。
　（１５）画像取得部により、入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得し、
　前記取得した細胞の画像に基づき、前記細胞を評価する
　情報処理方法であって、
　前記画像取得部は、
　　細胞及び液体を収容可能な収容部と、
　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する
　情報処理方法。 In addition, this technique can also take the following structures.
(1) a container that can contain cells and liquid;
An apparatus comprising: a rotating unit that generates a flow in the liquid in the container and rotates the cells.
(2) The apparatus according to (1) above,
The rotating unit generates a flow in a first direction in the liquid that contacts a first part that is a part of the surface of the cell, and rotates the cell around one axis. Having a device.
(3) The apparatus according to (2) above,
The rotating unit further causes the liquid in contact with a second part that is another part of the surface of the cell to flow in a second direction including a component in a direction opposite to the first direction. A second output port for generating and preventing the cells rotating about the one axis from flowing in the first direction and rotating the cells about the one axis;
(4) The apparatus according to any one of (1) to (3) above,
Detect the amount of rotation input from the input device,
An apparatus further comprising: a rotation control unit configured to control the amount of rotation of the cell by controlling the flow of the liquid generated by each of the output ports based on the input amount of rotation.
(5) The apparatus according to (3) or (4) above,
The rotating unit has two or more sets of the first output port and the second output port,
Each set is arranged so that the cells can be rotated about an axis including two orthogonal components.
(6) The apparatus according to any one of (3) to (5) above,
The rotating unit has three or more sets of the first output port and the second output port,
Each set is arranged so that the cell can be rotated around an axis including three orthogonal components.
(7) The apparatus according to any one of (4) to (6) above,
The rotation control unit
Detecting the direction and amount of rotation input from the input device,
An apparatus for controlling the rotation direction and the rotation amount of the cells by controlling the flow of the liquid generated by the output ports based on the input rotation direction and rotation amount.
(8) The apparatus according to any one of (4) to (7) above,
An image capturing unit that captures an image of the cell by capturing the cell in the housing unit;
The rotation control unit
Based on the image before rotation of the cell obtained by the imaging unit and the image after rotation of the cell, the actual rotation direction and amount of rotation of the cell are calculated,
An apparatus for achieving the input rotation direction and rotation amount by controlling the flow of the liquid generated by each output port based on the actual rotation direction and rotation amount calculated based on the cell image.
(9) The apparatus according to any one of (2) to (8) above,
Each said output port is an apparatus which inject | pours fluid into the said liquid in the said accommodating part, and produces | generates a flow in the said liquid in the said accommodating part.
(10) The apparatus according to any one of (2) to (8) above,
Each said output port generates a flow in the said liquid in the said accommodating part by generating a vibration in the said liquid in the said accommodating part.
(11) An image acquisition unit that acquires an image of a cell corresponding to the rotation direction and rotation amount input from the input device;
An evaluation unit for evaluating the cell based on the acquired cell image;
The image acquisition unit
A container capable of containing cells and liquid;
A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
A rotation control unit for controlling the rotation direction and amount of rotation of the cell by controlling the rotation unit;
An information processing apparatus that acquires, as an image of the cell, an image based on the image of the cell acquired by the imaging unit of an apparatus having an imaging unit that captures the cell in the storage unit and acquires an image of the cell.
(12) The information processing apparatus according to (11),
The rotation control unit
Detecting the direction and amount of rotation input from the input device,
Based on the input rotation direction and rotation amount, the rotation unit is controlled to control the rotation direction and rotation amount of the cells,
The imaging unit acquires an image of the cell in which the rotation direction and the rotation amount are controlled based on the input rotation direction and rotation amount,
The information acquisition device, wherein the image acquisition unit acquires an image of the cell from the imaging unit.
(13) The information processing apparatus according to (11) or (12),
The image acquisition unit
Detecting the direction and amount of rotation input from the input device,
From the storage device that stores the image of the cell acquired by the imaging unit and the rotation information related to the rotation direction and rotation amount of the cell in association with each other, the image of the cell corresponding to the input rotation direction and rotation amount Or reading a plurality of images from the storage device, and combining the read plurality of images to generate an image of a cell corresponding to the input rotation direction and rotation amount.
(14) an image acquisition unit that acquires an image of a cell corresponding to the rotation direction and the rotation amount input from the input device;
A program for causing an information processing device to function as an evaluation unit for evaluating the cell based on the acquired cell image,
The image acquisition unit
A container capable of containing cells and liquid;
A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
The program which acquires the image based on the image of the said cell which the said imaging part of the apparatus which has the imaging part which images the said cell in the said accommodating part and acquires the image of the said cell as an image of the said cell.
(15) The image acquisition unit acquires an image of a cell corresponding to the rotation direction and the rotation amount input from the input device,
An information processing method for evaluating the cell based on the acquired cell image,
The image acquisition unit
A container capable of containing cells and liquid;
A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
An information processing method for acquiring, as an image of the cell, an image based on the image of the cell acquired by the imaging unit of an apparatus having an imaging unit that captures the cell in the storage unit and acquires an image of the cell.
　１、１Ａ…細胞評価装置
　１０、１０Ａ…細胞回転装置
　１１、１１Ａ…入力装置
　１２、１２Ａ…画像取得部
　１３、１３Ａ…評価部
　１４、１４Ａ…出力装置
　１５…画像ＤＢ作成部
　１６…画像ＤＢ
　１１０、１１０Ａ…収容部
　１２０、１２０Ａ…回転部
　１３０、１３０Ａ…回転制御部
　１４０、１４０Ａ…撮像部 DESCRIPTION OF SYMBOLS 1, 1A ... Cell evaluation device 10, 10A ... Cell rotation device 11, 11A ... Input device 12, 12A ... Image acquisition part 13, 13A ... Evaluation part 14, 14A ... Output device 15 ... Image DB creation part 16 ... Image DB
110, 110A ... storage unit 120, 120A ... rotation unit 130, 130A ... rotation control unit 140, 140A ... imaging unit

Claims (15)

  1. 　細胞及び液体を収容可能な収容部と、
    　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と
    　を具備する装置。     A container capable of containing cells and liquid;
    An apparatus comprising: a rotating unit that generates a flow in the liquid in the container and rotates the cells.
  2. 　請求項１に記載の装置であって、
    　前記回転部は、前記細胞の表面の一部である第１の部位に接触する前記液体に第１の方向への流れを発生させて、１軸回りに前記細胞を回転させる第１の出力口を有する
    　装置。     The apparatus of claim 1, comprising:
    The rotating unit generates a flow in a first direction in the liquid that contacts a first part that is a part of the surface of the cell, and rotates the cell around one axis. Having a device.
  3. 　請求項２に記載の装置であって、
    　前記回転部は、さらに、前記細胞の前記表面の他の一部である第２の部位に接触する前記液体に、前記第１の方向と逆方向の成分を含む第２の方向への流れを発生させて、前記１軸回りに回転する前記細胞が前記第１の方向へ流れるのを妨げて前記１軸回りに前記細胞を回転させる第２の出力口を有する
    　装置。     The apparatus of claim 2, comprising:
    The rotating unit further causes the liquid in contact with a second part that is another part of the surface of the cell to flow in a second direction including a component in a direction opposite to the first direction. A second output port for generating and preventing the cells rotating about the one axis from flowing in the first direction and rotating the cells about the one axis;
  4. 　請求項３に記載の装置であって、
    　　入力装置から入力される回転量を検出し、
    　　前記入力された回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記細胞の回転量を制御する
    　回転制御部
    　をさらに具備する装置。     The apparatus of claim 3, comprising:
    Detect the amount of rotation input from the input device,
    An apparatus further comprising: a rotation control unit configured to control the amount of rotation of the cell by controlling the flow of the liquid generated by each of the output ports based on the input amount of rotation.
  5. 　請求項４に記載の装置であって、
    　前記回転部は、前記第１の出力口及び前記第２の出力口の組を、２組以上有し、
    　前記各組は、直交する２軸の成分を含む軸回りに前記細胞を回転させることが可能なように配置される
    　装置。     The apparatus according to claim 4, comprising:
    The rotating unit has two or more sets of the first output port and the second output port,
    Each set is arranged so that the cells can be rotated about an axis including two orthogonal components.
  6. 　請求項５に記載の装置であって、
    　前記回転部は、前記第１の出力口及び前記第２の出力口の組を、３組以上有し、
    　前記各組は、直交する３軸の成分を含む軸回りに前記細胞を回転させることが可能なように配置される
    　装置。     The apparatus of claim 5, comprising:
    The rotating unit has three or more sets of the first output port and the second output port,
    Each set is arranged so that the cell can be rotated around an axis including three orthogonal components.
  7. 　請求項６に記載の装置であって、
    　前記回転制御部は、
    　　前記入力装置から入力される回転方向及び回転量を検出し、
    　　前記入力された回転方向及び回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記細胞の回転方向及び回転量を制御する
    　装置。     The apparatus according to claim 6, comprising:
    The rotation control unit
    Detecting the direction and amount of rotation input from the input device,
    An apparatus for controlling the rotation direction and the rotation amount of the cells by controlling the flow of the liquid generated by the output ports based on the input rotation direction and rotation amount.
  8. 　請求項７に記載の装置であって、
    　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部をさらに具備し、
    　前記回転制御部は、
    　　前記撮像部が撮像して得た前記細胞の回転前の画像と、前記細胞の回転後の画像とに基づき、前記細胞の実際の回転方向及び回転量を算出し、
    　　前記細胞の画像に基づき算出した実際の回転方向及び回転量に基づき、前記各出力口が発生する前記液体の流れを制御して、前記入力された回転方向及び回転量を達成する
    　装置。     The apparatus according to claim 7, comprising:
    An image capturing unit that captures an image of the cell by capturing the cell in the housing unit;
    The rotation control unit
    Based on the image before rotation of the cell obtained by the imaging unit and the image after rotation of the cell, the actual rotation direction and amount of rotation of the cell are calculated,
    An apparatus for achieving the input rotation direction and rotation amount by controlling the flow of the liquid generated by each output port based on the actual rotation direction and rotation amount calculated based on the cell image.
  9. 　請求項３に記載の装置であって、
    　前記各出力口は、前記収容部内の前記液体に流体を注入することで、前記収容部内の前記液体に流れを発生させる
    　装置。     The apparatus of claim 3, comprising:
    Each said output port is an apparatus which inject | pours a fluid into the said liquid in the said accommodating part, and produces | generates a flow in the said liquid in the said accommodating part.
  10. 　請求項３に記載の装置であって、
    　前記各出力口は、前記収容部内の前記液体に振動を発生させることで、前記収容部内の前記液体に流れを発生させる
    　装置。     The apparatus of claim 3, comprising:
    Each said output port generates a flow in the said liquid in the said accommodating part by generating a vibration in the said liquid in the said accommodating part.
  11. 　入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得する画像取得部と、
    　前記取得した細胞の画像に基づき、前記細胞を評価する評価部と
    　を具備し、
    　前記画像取得部は、
    　　細胞及び液体を収容可能な収容部と、
    　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
    　　前記回転部を制御して、前記細胞の回転方向及び回転量を制御する回転制御部と、
    　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
    　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する
    　情報処理装置。     An image acquisition unit for acquiring an image of a cell corresponding to the rotation direction and the rotation amount input from the input device;
    An evaluation unit for evaluating the cell based on the acquired cell image;
    The image acquisition unit
    A container capable of containing cells and liquid;
    A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
    A rotation control unit for controlling the rotation direction and amount of rotation of the cell by controlling the rotation unit;
    An information processing apparatus that acquires, as an image of the cell, an image based on the image of the cell acquired by the imaging unit of an apparatus having an imaging unit that captures the cell in the storage unit and acquires an image of the cell.
  12. 　請求項１１に記載の情報処理装置であって、
    　前記回転制御部は、
    　　前記入力装置から入力される回転方向及び回転量を検出し、
    　　前記入力された回転方向及び回転量に基づき、前記回転部を制御して、前記細胞の回転方向及び回転量を制御し、
    　前記撮像部は、前記入力された回転方向及び回転量に基づき回転方向及び回転量が制御された前記細胞の画像を取得し、
    　前記画像取得部は、前記撮像部から、前記細胞の画像を取得する
    　情報処理装置。     The information processing apparatus according to claim 11,
    The rotation control unit
    Detecting the direction and amount of rotation input from the input device,
    Based on the input rotation direction and rotation amount, the rotation unit is controlled to control the rotation direction and rotation amount of the cells,
    The imaging unit acquires an image of the cell in which the rotation direction and the rotation amount are controlled based on the input rotation direction and rotation amount,
    The information acquisition device, wherein the image acquisition unit acquires an image of the cell from the imaging unit.
  13. 　請求項１１に記載の情報処理装置であって、
    　前記画像取得部は、
    　　前記入力装置から入力される回転方向及び回転量を検出し、
    　　前記撮像部が取得した前記細胞の画像と前記細胞の回転方向及び回転量に関連する回転情報とを互いに関連付けて記憶する記憶装置から、前記入力された回転方向及び回転量に対応する細胞の画像を読み出し、又は
    　　前記記憶装置から複数の画像を読み出し、前記読み出した複数の画像を合成して、前記入力された回転方向及び回転量に対応する細胞の画像を生成する
    　情報処理装置。     The information processing apparatus according to claim 11,
    The image acquisition unit
    Detecting the direction and amount of rotation input from the input device,
    From the storage device that stores the image of the cell acquired by the imaging unit and the rotation information related to the rotation direction and rotation amount of the cell in association with each other, the image of the cell corresponding to the input rotation direction and rotation amount Or reading a plurality of images from the storage device, and combining the read plurality of images to generate an image of a cell corresponding to the input rotation direction and rotation amount.
  14. 　入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得する画像取得部と、
    　前記取得した細胞の画像に基づき、前記細胞を評価する評価部
    　として情報処理装置を機能させるプログラムであって、
    　前記画像取得部は、
    　　細胞及び液体を収容可能な収容部と、
    　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
    　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
    　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する
    　プログラム。     An image acquisition unit for acquiring an image of a cell corresponding to the rotation direction and the rotation amount input from the input device;
    A program for causing an information processing device to function as an evaluation unit for evaluating the cell based on the acquired cell image,
    The image acquisition unit
    A container capable of containing cells and liquid;
    A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
    The program which acquires the image based on the image of the said cell which the said imaging part of the apparatus which has the imaging part which images the said cell in the said accommodating part and acquires the image of the said cell as an image of the said cell.
  15. 　画像取得部により、入力装置から入力される回転方向及び回転量に対応する細胞の画像を取得し、
    　前記取得した細胞の画像に基づき、前記細胞を評価する
    　情報処理方法であって、
    　前記画像取得部は、
    　　細胞及び液体を収容可能な収容部と、
    　　前記収容部内の前記液体に流れを発生させて、前記細胞を回転させる回転部と、
    　　前記収容部内の前記細胞を撮像して前記細胞の画像を取得する撮像部と
    　を有する装置の前記撮像部が取得した前記細胞の画像に基づく画像を、前記細胞の画像として取得する
    　情報処理方法。     The image acquisition unit acquires an image of a cell corresponding to the rotation direction and the rotation amount input from the input device,
    An information processing method for evaluating the cell based on the acquired cell image,
    The image acquisition unit
    A container capable of containing cells and liquid;
    A rotating part for rotating the cell by generating a flow in the liquid in the containing part;
    An information processing method for acquiring, as an image of the cell, an image based on the image of the cell acquired by the imaging unit of an apparatus having an imaging unit that captures the cell in the storage unit and acquires an image of the cell.
PCT/JP2017/017823 2016-06-13 2017-05-11 Device, information processing device, program, and information processing method WO2017217148A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AU2017284307A AU2017284307B2 (en) 2016-06-13 2017-05-11 Device, information processing device, program, and information processing method
US16/307,582 US11300766B2 (en) 2016-06-13 2017-05-11 Apparatus, information processing apparatus, program, and information processing method
CN201780034780.3A CN109312286A (en) 2016-06-13 2017-05-11 Device, information processing unit, program and information processing method
JP2018523580A JP6911851B2 (en) 2016-06-13 2017-05-11 Device
EP17813053.0A EP3470510A4 (en) 2016-06-13 2017-05-11 Device, information processing device, program, and information processing method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016116772 2016-06-13
JP2016-116772 2016-06-13

Publications (1)

Publication Number Publication Date
WO2017217148A1 true WO2017217148A1 (en) 2017-12-21

Family

ID=60664050

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/017823 WO2017217148A1 (en) 2016-06-13 2017-05-11 Device, information processing device, program, and information processing method

Country Status (6)

Country Link
US (1) US11300766B2 (en)
EP (1) EP3470510A4 (en)
JP (1) JP6911851B2 (en)
CN (1) CN109312286A (en)
AU (1) AU2017284307B2 (en)
WO (1) WO2017217148A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019235563A1 (en) * 2018-06-08 2019-12-12 オリンパス株式会社 Observation apparatus
JP2020195371A (en) * 2019-05-31 2020-12-10 キヤノンメディカルシステムズ株式会社 Cell identification system and cell identification method

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2017368393B2 (en) 2016-11-29 2020-09-17 Sony Corporation Information processing device, information processing method, program, and observation system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011017620A (en) * 2009-07-09 2011-01-27 Nikon Corp Shape measuring method, image processing program, and observation device
WO2012142664A1 (en) * 2011-04-20 2012-10-26 Monash University Method and device for trapping and analysing cells and the like
JP2013502233A (en) * 2009-08-22 2013-01-24 ザ ボード オブ トラスティーズ オブ ザ リーランド スタンフォード ジュニア ユニバーシティ Imaging and evaluation of embryos, oocytes, and stem cells
CN101880626B (en) * 2010-05-28 2013-04-17 华南理工大学 Omni-directional regulating method of single cell position and pose and combinational drive type omni-directional regulating device
CN103087898A (en) * 2013-01-04 2013-05-08 华南理工大学 Swirl-based single-cell posture adjustment method
JP2013118848A (en) * 2011-12-08 2013-06-17 Dainippon Printing Co Ltd Device and method for detecting cell behavior, and program
JP2013243968A (en) * 2012-05-25 2013-12-09 Nagoya Univ Cell operating apparatus

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7013739B2 (en) * 2003-08-29 2006-03-21 The Board Of Trustees Of The Leland Stanford Junior University System and method for confining an object to a region of fluid flow having a stagnation point
JP2005249745A (en) * 2004-03-08 2005-09-15 Ebara Corp Sample surface inspecting method and inspecting apparatus
CN101135650A (en) * 2006-08-29 2008-03-05 彭兴跃 Cell observation experimental method and device thereof
WO2009111877A1 (en) * 2008-03-13 2009-09-17 Yu Sun Method and apparatus for microscopy
US8515143B2 (en) 2009-01-09 2013-08-20 Dai Nippon Printing Co., Ltd. Embryo quality evaluation assistance system, embryo quality evaluation assistance apparatus and embryo quality evaluation assistance method
DE102010009853B4 (en) * 2010-03-02 2012-12-06 Bruker Daltonik Gmbh Determination of tissue states by means of imaging mass spectrometry
JP6060625B2 (en) 2012-11-02 2017-01-18 大日本印刷株式会社 Cell culture container and cell observation method
CN103048256A (en) * 2012-12-21 2013-04-17 中国计量学院 Measure and control device for electrorotation biological chip experiment and experiment system
JP2014238344A (en) * 2013-06-07 2014-12-18 富士ゼロックス株式会社 Image processing system, image processor and program
CN105219642B (en) * 2015-09-09 2018-02-09 清华大学 For unicellular capture and the micro-fluidic device of three-dimensional rotation
AU2017368974A1 (en) * 2016-11-30 2019-06-13 Sony Corporation Information processing device, observation system, information processing method, and program

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011017620A (en) * 2009-07-09 2011-01-27 Nikon Corp Shape measuring method, image processing program, and observation device
JP2013502233A (en) * 2009-08-22 2013-01-24 ザ ボード オブ トラスティーズ オブ ザ リーランド スタンフォード ジュニア ユニバーシティ Imaging and evaluation of embryos, oocytes, and stem cells
CN101880626B (en) * 2010-05-28 2013-04-17 华南理工大学 Omni-directional regulating method of single cell position and pose and combinational drive type omni-directional regulating device
WO2012142664A1 (en) * 2011-04-20 2012-10-26 Monash University Method and device for trapping and analysing cells and the like
JP2013118848A (en) * 2011-12-08 2013-06-17 Dainippon Printing Co Ltd Device and method for detecting cell behavior, and program
JP2013243968A (en) * 2012-05-25 2013-12-09 Nagoya Univ Cell operating apparatus
CN103087898A (en) * 2013-01-04 2013-05-08 华南理工大学 Swirl-based single-cell posture adjustment method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
See also references of EP3470510A4 *
TORINO, S. ET AL.: "A Microfluidic Approach for Inducing Cell Rotation by Means of Hydrodynamic Forces", SENSORS (BASEL, vol. 16, no. 8, 19 August 2016 (2016-08-19), pages E1326, XP055449462, ISSN: 1424-8220 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019235563A1 (en) * 2018-06-08 2019-12-12 オリンパス株式会社 Observation apparatus
WO2019234916A1 (en) * 2018-06-08 2019-12-12 オリンパス株式会社 Observation device
JPWO2019235563A1 (en) * 2018-06-08 2021-06-17 オリンパス株式会社 Observation device and cell observation method
JP7064584B2 (en) 2018-06-08 2022-05-10 オリンパス株式会社 Observation device and cell observation method
US11635364B2 (en) 2018-06-08 2023-04-25 Evident Corporation Observation device
JP2020195371A (en) * 2019-05-31 2020-12-10 キヤノンメディカルシステムズ株式会社 Cell identification system and cell identification method
JP7697775B2 (en) 2019-05-31 2025-06-24 キヤノンメディカルシステムズ株式会社 Cell identification system and cell identification method

Also Published As

Publication number Publication date
US11300766B2 (en) 2022-04-12
CN109312286A (en) 2019-02-05
EP3470510A4 (en) 2019-06-26
JPWO2017217148A1 (en) 2019-04-04
AU2017284307B2 (en) 2020-02-20
AU2017284307A1 (en) 2018-12-13
US20190212537A1 (en) 2019-07-11
EP3470510A1 (en) 2019-04-17
JP6911851B2 (en) 2021-07-28

Similar Documents

Publication Publication Date Title
JP5198883B2 (en) Tumor area size measuring method, apparatus and program
WO2017217148A1 (en) Device, information processing device, program, and information processing method
US20170160077A1 (en) Method of inspecting an object with a vision probe
JP6821326B2 (en) Information processing equipment, measurement systems, information processing methods and programs
EP3121287B1 (en) Drug efficacy evaluation method and image processing device for drug efficacy evaluation
JP5859300B2 (en) Control apparatus, method and program
Cameron et al. Cell mechanics of pollen tube growth
Roberts Mechanisms of gravitaxis in Chlamydomonas
JP2016511435A5 (en)
WO2018100917A1 (en) Information processing device, observation system, information processing method, and program
US20150293215A1 (en) Ultrasound imaging apparatus and method for controlling the same
CN111309144A (en) Recognition method, device and storage medium for gaze behavior in three-dimensional space
JP2006006933A (en) Method and apparatus for medical ultrasonic navigation and user interface
Kim et al. Real-time assessment of surface cracks in concrete structures using integrated deep neural networks with autonomous unmanned aerial vehicle
JP2009089630A (en) Device and method for observing cell
She et al. Marine bubble flow quantification using wide-baseline stereo photogrammetry
CN101774484B (en) Carrying device, control device and control method
CN107832771A (en) The medium of the system and record process meteorological data program of process meteorological data device and method including process meteorological data device
US20240169523A1 (en) Cell counting method, machine learning model construction method and recording medium
Henley et al. Deep learning in shallow water: CNN-based 3D-FLS target recognition
García-Moreno et al. Experimental measurement of the powder flow velocity in a three-port coaxial laser metal deposition nozzle by high-speed imaging
McCarthy et al. 3D case studies of monitoring dynamic structural tests using long exposure imagery
JP2010022319A (en) Evaluation technique for forecasting cell migration direction, and image processing program and image processing apparatus of cell observation image
CN116299374B (en) Sonar imaging underwater automatic calibration positioning method and system based on machine vision
JP5972715B2 (en) Image clipping method and image acquisition apparatus

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2018523580

Country of ref document: JP

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17813053

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2017284307

Country of ref document: AU

Date of ref document: 20170511

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2017813053

Country of ref document: EP

Effective date: 20190114